LivoxMid360 Plugin

Overview

The LivoxMid360 plugin (LivoxMid360Plugin) is a plugin for supporting the MID-360, a LiDAR by Livox. It makes the MID-360 available as a Choreonoid device and also supports its simulation.

The MID-360 is a LiDAR with a non-repetitive scanning method, whose scanning pattern differs from that of common rotating LiDARs. With this plugin, point cloud output simulating this scanning pattern can be performed in cooperation with the GL vision simulator.

How to Build

This plugin can be built by turning ON the CMake option BUILD_LIVOX_MID360_PLUGIN. As a prerequisite, the GL vision simulator plugin ( BUILD_GL_VISION_SIMULATOR_PLUGIN ) must be enabled.

How to Use

When this plugin is loaded, the LivoxMid360 device can be described as a device of body models, and its point cloud output can be obtained in simulation. For the parameters of the device, see the LivoxMid360 section of Vision Sensor Devices.

A model of the MID-360 is provided as share/model/misc/mid360.body, and a sample project of its simulation is provided as sample/VisionSimulator/Mid360.cnoid. For the basic framework of vision sensor simulation, see Vision Sensor Simulation.