Understanding LiDAR Simulation with Timeline
The following page presents you how a timeline coupled with a trajectory file works in a LiDAR simulation.
Warning: From the version 2022 R2, the Timeline Start and End parameters have been improved in order to enter time values below 1ms. This change will impact your custom scripts, and will need to be modified consequently, as previous time format is no longer supported.
Time Consideration
LiDAR simulation considers all the timestamps of the complete acquisition sequence described in the scanning and rotation sequence files.
Starting from Timeline Start, time will increase by considering the timestamps.
_Lidar_Timeline_Global_Time.png)
| Global time = Timeline Start + Timestamp min | _Lidar_Timeline_Global_Time_01.png) |
| Global time = Timeline Start + Timestamp | _Lidar_Timeline_Global_Time_02.png) |
| Global time = Timeline Start + Timestamp max | _Lidar_Timeline_Global_Time_03.png)
|
Once the acquisition sequence described in the LiDAR sensor is complete, a new sequence begins from the Timestamp min.
The loop lasts until Timeline End is reached.
_Lidar_Timeline_Workflow_Scanning_Lidar.png)
_Lidar_Timeline_Workflow_Rotating_Lidar.png)
Note: For more information about Rotation and Scanning Sequence File, refer to Firing Sequence Files
| Side view | Top view |
_Lidar_Moving_Geometry_Side.gif) |
_Lidar_Moving_Geometry_Top.gif) |
Trajectory Consideration
At each timestamp, the global time is used to position and orientate features using a Trajectory file.
A linear interpolation is done between two trajectory samples.
Note: The number of samples needs to reflect the shape of the trajectory. For instance, few samples are necessary for a linear trajectory. On the other hand, the number of samples needs to be high enough for a curvy trajectory.
_Lidar_Timeline_Interpolation.png)