Lidar data not aligned with RGB and depth

[DanieleMarchisotti]

Hi,

I am opening this issue about Lidar data that seems to be not aligned with RGB and depth. I did a test with multirotor and I called the functions to get images and Lidar data (simGetImages and getLidarData) while the simulation was paused, so I expected that RGB, depth and Lidar data to be aligned. I tested it by projecting Lidar points on the same image plane of depth images, i.e. using intrinsics of depth image on lidar points to obtain a depth image. However, as you can seen in the example below, Lidar image appear to be shifted.

How could I solve this issue?

I used the following settings.json:

{
    "SettingsVersion": 1.2,
    "SimMode": "Multirotor",
    "Vehicles": {
      "drone_test": {
        "VehicleType": "SimpleFlight",
        "AutoCreate": true,
        "X": 0,
        "Y": 0,
        "Z": 0,
        "Cameras": {
          "0": {
            "X": 0.5,
            "Y": 0,
            "Z": -1,
            "Pitch": -30.0,
            "Roll": 0.0,
            "Yaw": 0.0,
            "CaptureSettings": [
              { "ImageType": 0,
                "Width": 1280,
                "Height": 720,
                "FOV_Degrees": 32
              },
              { "ImageType": 1,
                "Width": 1280,
                "Height": 720,
                "FOV_Degrees": 32
              }
            ]
          }
        },
        "Sensors":{
          "LidarSensor1": { 
            "SensorType": 6,
            "Enabled": true,
            "NumberOfChannels": 128,
            "Range": 1200,
            "RotationsPerSecond": 20,
            "MeasurementsPerCycle": 188,
            "X": 0.5,
            "Y": 0,
            "Z": -1,
            "Roll": 0,
            "Pitch": -30.0,
            "Yaw": 0,
            "VerticalFOVUpper": 11.25,
            "VerticalFOVLower": -11.25,
            "HorizontalFOVStart": -16,
            "HorizontalFOVEnd": 16,
            "DrawDebugPoints": false,
            "IgnoreMarked": true,
            "GenerateNoise": true,
            "DrawSensor": false
          }
        }
      }
    },
    "SubWindows": [
      {
        "WindowID": 0,
        "CameraName": "0",
        "ImageType": 0,
        "VehicleName": "drone_test",
        "Visible": true
      }
    ]
  }

I got the following results (top-left: rgb image with lidar points overlay, top-right: depth, bottom-left: lidar image, bottom-right: depth image):

I used City Park environment, but also with other environments I have the same issue.