Lidar

[WanpengShao]

The problem
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How to reproduce
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Hello, I have a question: I added a lidar and a piece of glass to the platform, and a tree. I set the reflectivity parameter of the glass to 1. When I use the lidar to scan the glass, normally, when the lidar hits the glass, there should be a reflection phenomenon. The reflected laser pulse should also hit the tree, and subsequently, the return point from the tree should appear behind the glass. However, I do not see the reflection phenomenon in the Helios platform. Is there something wrong with my settings or my operations?

[han16nah]

Hi @WanpengShao

I assume that you mean the d (dissolve) or the Tr (Transparency = 1 - d) parameters in MTL OBJ files, where a value of 0.0 for d or 1.0 for Tr would mean the object is fully transparent.

At the moment, we do not support these parameters and hence transparent mesh surfaces in HELIOS++ (yet). As a workaround, you could just delete surfaces from the mesh/the scene which should be fully transparent.

Surface transparency is on our list of features which we want to implement in future HELIOS++ releases.

Best wishes,

Hannah