Shaded Area

This section describes how to spawn the Shaded Area.

1. Shaded Area

Go to Edit > Scenario > Map Edit mode to access Map Edit mode and spawn the shaded area.

The term has been changed as below.

• Denied Area → Shaded Area

2. Spawn & Remove Shaded Area

Click the Shaded Area in the Map Object List, then follow the below process.

1. Press Shift + Mouse left-click to spawn the Shared area.

2. Press Alt + Mouse left-click to delete the active Shared area.

3. Position, Rotation, and Scale Setting

There are 2 different ways to set the Position, Rotation, and Scale of Shared Area.

1) Select Position/Rotation/Scale in the Gizmo factor & Mouse Drag and Drop

• Click Position/Rotation/Scale you want to set, then mouse drag and drop the Shared area to adjust each of them.

2) Directly input each of the desired values

• Position (X,Y,Z)

  • Directly input the X,Y, and Z values

    • Example: Enter the X value to 10

• Rotation (Roll, Pitch, Yaw)

  • Directly input the Roll, Pitch, and Yaw values

    • Example: Enter the Pitch value to 45 (Rotate 45 degrees)

• Scale (Scale X,Y,Z)

  • Directly input the Scale X,Y, and Z values

    • Example: Enter the Scale X values to 2.0 (m) (Adjust the Scale)

4. Map Object Setting > Sensor Setting

Tick each sensor's name in the checkbox in Sensor Setting in the Map Object Setting.

When ticked the sensor in Sensor Setting,
below selected sensor parameter is activated on the bottom of the Map Object Setting.

• Noise Type

  • 2D/3D LiDAR

    • Black out: When select the noise type to Blackout, Point Cloud values are output as bin values.

    • Noise: When select the noise type to Noise, LiDAR output value is modified depending on the parameters in Gaussian Noise.

  • GPS

    • Black out: When select the noise type to Blackout, Latitude, Longitude, and Altitude values output as 0.

    • Noise: When select the noise type to Noise, GPS output value is modified depending on the parameters in Gaussian Noise.

  • IMU

    • Black out: When select the noise type to Blackout, Orientation, Angular Velocity, Linear Acceleration values output as 0.

    • Noise: When select the noise type to Noise, IMU output value is modified depending on the parameters in Gaussian Noise, Bias-Instability Noise, and Random Walk Noise.