CARLA
LidarSerializer.h
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1 // Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #pragma once
8 
9 #include "carla/Debug.h"
10 #include "carla/Memory.h"
11 #include "carla/sensor/RawData.h"
13 
14 namespace carla {
15 namespace sensor {
16 
17  class SensorData;
18 
19 namespace s11n {
20 
21  // ===========================================================================
22  // -- LidarHeaderView --------------------------------------------------------
23  // ===========================================================================
24 
25  /// A view over the header of a Lidar measurement.
28 
29  public:
30  float GetHorizontalAngle() const {
31  return reinterpret_cast<const float &>(_begin[Index::HorizontalAngle]);
32  }
33 
34  uint32_t GetChannelCount() const {
35  return _begin[Index::ChannelCount];
36  }
37 
38  uint32_t GetPointCount(size_t channel) const {
39  DEBUG_ASSERT(channel < GetChannelCount());
40  return _begin[Index::SIZE + channel];
41  }
42 
43  private:
44  friend class LidarSerializer;
45 
46  explicit LidarHeaderView(const uint32_t *begin) : _begin(begin) {
47  DEBUG_ASSERT(_begin != nullptr);
48  }
49 
50  const uint32_t *_begin;
51  };
52 
53  // ===========================================================================
54  // -- LidarSerializer --------------------------------------------------------
55  // ===========================================================================
56 
57  /// Serializes the data generated by Lidar sensors.
59  public:
60 
62  return LidarHeaderView{reinterpret_cast<const uint32_t *>(data.begin())};
63  }
64 
65  static size_t GetHeaderOffset(const RawData &data) {
66  auto View = DeserializeHeader(data);
67  return sizeof(uint32_t) * (View.GetChannelCount() + data::LidarData::Index::SIZE);
68  }
69 
70  template <typename Sensor>
71  static Buffer Serialize(
72  const Sensor &sensor,
73  const data::LidarData &data,
74  Buffer &&output);
75 
76  static SharedPtr<SensorData> Deserialize(RawData &&data);
77  };
78 
79  // ===========================================================================
80  // -- LidarSerializer implementation -----------------------------------------
81  // ===========================================================================
82 
83  template <typename Sensor>
85  const Sensor &,
86  const data::LidarData &data,
87  Buffer &&output) {
88  std::array<boost::asio::const_buffer, 2u> seq = {
89  boost::asio::buffer(data._header),
90  boost::asio::buffer(data._points)};
91  output.copy_from(seq);
92  return std::move(output);
93  }
94 
95 } // namespace s11n
96 } // namespace sensor
97 } // namespace carla
static Buffer Serialize(const Sensor &sensor, const data::LidarData &data, Buffer &&output)
static const FString SIZE
Serializes the data generated by Lidar sensors.
boost::shared_ptr< T > SharedPtr
Use this SharedPtr (boost::shared_ptr) to keep compatibility with boost::python, but it would be nice...
Definition: Memory.h:20
This file contains definitions of common data structures used in traffic manager. ...
Definition: Carla.cpp:99
auto begin() noexcept
Begin iterator to the data generated by the sensor.
Definition: RawData.h:51
A view over the header of a Lidar measurement.
uint32_t GetPointCount(size_t channel) const
#define DEBUG_ASSERT(predicate)
Definition: Debug.h:66
static size_t GetHeaderOffset(const RawData &data)
LidarHeaderView(const uint32_t *begin)
static LidarHeaderView DeserializeHeader(const RawData &data)
A piece of raw data.
Definition: carla/Buffer.h:39
void copy_from(const T &source)
Copy source into this buffer. Allocates memory if necessary.
Definition: carla/Buffer.h:302
Wrapper around the raw data generated by a sensor plus some useful meta-information.
Definition: RawData.h:20
std::vector< float > _points
Definition: LidarData.h:109