A-virtual-LiDAR-for-DeepGTAV

Preview:

Usage:

Configure DeepGTAV

1. Get DeepGTAV source code from https://github.com/aitorzip/DeepGTAV and build it;
2. Copy LiDAR.h and LiDAR.cpp to DeepGTAV source code folder;
3. (Optional)Place the following piece of code below DeepGTAV/Scenario.cpp/void Scenario::buildScenario()/CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, TRUE, TRUE);(Reason: Wait the camera initated. If camera isn't initiated, the first frame of LiDAR is wrong)

	isCamInit = false;  
	while (!isCamInit)//Wait the camera initated. If camera isn't initiated, the first frame of LiDAR is wrong.   
	{  
		Vector3 source = CAM::GET_CAM_COORD(camera);  
		if (abs(source.x - 128000.0) < 1e-5 && abs(source.y - 128000.0) < 1e-5)  
			scriptWait(1);  
		else  
			isCamInit = true;  
	}

Initialize LiDAR

You can initialize LiDAR in two ways:

1. Use APIs Init2DLiDAR_SmplNum or Init3DLiDAR_SmplNum to initialize LiDAR as 2D or 3D mode. These two APIs can configure LiDAR FOVs more specifically;
2. APIs Init2DLiDAR_FOV or Init3DLiDAR_FOV also work;
3. Meanings of parameters of APIs above can be found in LiDAR.cpp;
4. Example: Place the following piece of code to the bottom of DeepGTAV/Scenario.cpp/void Scenario::buildScenario().

  //setup LiDAR
	if (liDAR) //flag if activate the LiDAR
	{
		if (liDARDevice == NULL) liDARDevice = new LiDAR();
		if (strcmp("2D", liDARType) == 0) {
			if (abs(liDARParams[0]) < 1e-5)
				liDARDevice->Init2DLiDAR_SmplNum();//use default configuration
			else
				liDARDevice->Init2DLiDAR_SmplNum(liDARParams[0], liDARParams[1], liDARParams[2], liDARParams[3]);
		}
		else if (strcmp("3D", liDARType) == 0) {
			if (abs(liDARParams[0]) < 1e-5)
				liDARDevice->Init3DLiDAR_SmplNum();//use default configuration
			else
				liDARDevice->Init3DLiDAR_SmplNum(liDARParams[0], liDARParams[1], liDARParams[2], liDARParams[3],
					liDARParams[4], liDARParams[5], liDARParams[6]);
		}
		liDARDevice->AttachLiDAR2Camera(camera, vehicle);//Attach the LiDAR to the camera
	}

Attach LiDAR to the entity camera

Attach a LiDAR device to a vehicle. Two params are needed, camera ID and vehicle ID which both can be found in DeepGTAV.

1. Use API AttachLiDAR2Camera to attach LiDAR to the entity.

Get point clouds

Once API GetPointClouds is called, points are sampled.

1. Get the LiDAR range results from the return of API GetPointClouds, which is a float array with length == getTotalSmplNum().
2. If you want to get point(Cartesian coordinate) results, a solution can be found in A-virtual-LiDAR-for-DeepGTAV/examples/LIDAR_GTAV

Please tell me the bugs, thanks!