Doing your first sensor simulation in 60 seconds
Step 1: Start blensor
You need to follow the installation instructions to get ready. If you start blensor you will see the following view.
Step 2: Add some objects to your world
You can add primitives by pressing Shift+a and selecting the desired object. Or you can add objects through the import menu. Or you can add objects from other .blend files through the Link/Append menu.
Step 3: Configuring the scanner
Right-click on the camera object and select the Camera Panel on the right side of the screen. This will show you the scanner configuration. (NOTE: If you don't see the scanner configuration you need to activate the Sensor Simulation Addon. File -> User Preferences -> Add-Ons -> System -> Sensor Simulation) You can select from different scanner types. Every scanner has its own parameters. The most important parameters are: - Rotation speed - This controls how fast the scanner rotates. If you are only doing a single scan you should set it to the same value as the Frames per second setting of the renderer. (i.e. to 24) - Noise mu and Noise sigma - A gaussian noise centered at Noise mu with a standard deviation of Noise sigma is added to every measurement. - DB noise mu and DB noise sigma - The same as above but a noise that is added to every laser and which stays the same until Randomize bias is pressed. - Reflectivity distance - All measurements below this distance that hit a material are valid measurements. - Reflectivity limit - Measurements at the Reflectivity distance need at least a reflectivity of Reflectivity limit - Reflectivity slope - How much the Reflectivity limit increases per meter