When adjusting the parameters of the lidar, the opposite of what was expected occurred

Omniverse Isaac Sim
1

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Isaac Sim Version

4.2.0

Operating System

Windows 11

GPU Information

  • 3070 ti laptop:
  • 561.09:

Topic Description

When adjusting the parameters of the lidar, the opposite of what was expected occurred.

Detailed Description

I was setting the parameters of a lidar configuration, and when
reportRateBaseHz<100000 was set, the lidar operated normally and could generate a dense point cloud. When reportRateBaseHz>1000000 was set, the point cloud data instead became very sparse.

Steps to Reproduce

  1. Change the point cloud parameters,
  2. load the lidar,
    3.visualize

Screenshots or Videos

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2

Here is my configuration parameter file
Airborne_scan.txt (1.2 KB)

3

I have made a new discovery: when quantumEfficiency is greater than 1, even if reportRateBaseHz is greater than 1000000, the point cloud will not become sparse. All points will be displayed normally.

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3331672×869 126 KB

4

I still want to know why. My understanding is that quantumEfficiency should not be greater than 1.

5

When quantumEfficiency is set to a value greater than 1, the data volume of the point cloud becomes very large, so quantumEfficiency is not a good choice when it is greater than 1.
However, I now know that if you increase the value of effectiveApertureSize, even if quantumEfficiency is less than 1 and reportRateBaseHz>1000000, you can still get the correct result, which is visually correct. I don’t know how to verify whether the data volume is correct.