Feature suggestion: Lidar sampling times

[mark.haoxiang]

Reading data from lidar - rotation rate and buffer size

Lidar is collected per PhysX step, at a single timestamp, The slight offsets for the scan that occur during a step are currently not taken into account. The amount of data (number of rays) returned is based on the rotation rate of the lidar as well as the framerate of the simulation. If the rate is faster and the framerate slower, the scan should be larger. All of the rays computed during that physics step for the scan would have the same effective timestamp. We are working on exposing more ap…

It appears range sensor buffers are being updated on render frames, not physics frames. If there is a need to sample lidar at high frequencies, GUI and cameras would need to be fully simulated, reducing performance.

Perhaps it would be a good idea to adjust the update rate of lidars to PHYSX step? Or expose timing, ring etc and other information in the API!

[Hammad_M]

Thanks @mark.haoxiang I’ve made a note of it, we’ll see what we can do to improve this for future releases