Known Issues

Lidars

Camera-based lidars have more limitations that pathtraced lidars

Lidars implemented using a camera sensing component have multiple limitations compared to pathtraced lidars. See Camera-Based Lidar for details.

Beam divergence doesn't affect depth

Lidar beam divergence currently only affects intensity.

Fog doesn't affect lidars

Fog doesn't work to reduce lidar intensity, nor does it have an effect on the distance signal returned.

Hiding the game view stops pathtraced lidars

The game view must be visible on screen during play mode. Otherwise, lidars using path tracing will stop working, dropping sampling requests. This is an HDRP limitation.

Lidars with non-360 degrees FoV don't support motor noise

When using the Generic 3D Lidar with a Horizontal FoV smaller than 360 degrees, MotorSpeedVariation and MotorTimeConstant must be set to 0. Otherwise, drift will occur over time, and the field-of-view may not be oriented correctly.

Changing lidar properties in Play mode shifts output textures

Changing properties of a generic lidar during Play Mode will cause horizontal shift in the output textures.

Lidars don’t support changing rotation rate or sampling rate in Play mode

Changing rotation rate or sampling rate of a generic lidar during play mode may cause instability and wrong results in the output point cloud.

Deactivating and reactivating a lidar doesn't work

In Play mode, if you disable a GameObject with an attached lidar system graph, then enable it back, the lidar will stop working correctly. Note that a lidar can start disabled, then be enabled later without problem.

Pathtraced lidar crashes for some materials

Pathtraced lidars only support the Built-in Lit shader and custom-made shaders through Shader Graph, like those provided by SensorSDK.