carla::sensor::data::LidarDetection Class Reference

Helper class to store and serialize the data generated by a Lidar. More...

#include <LidarData.h>

Collaboration diagram for carla::sensor::data::LidarDetection:

Public Member Functions
	LidarDetection ()
	LidarDetection (float x, float y, float z, float intensity)
	LidarDetection (geom::Location p, float intensity)
void	WriteDetection (std::ostream &out) const
void	WritePlyHeaderInfo (std::ostream &out) const

Public Attributes
float	intensity
geom::Location	point

Detailed Description

Helper class to store and serialize the data generated by a Lidar.

The header of a Lidar measurement consists of an array of uint32_t's in the following layout

{ Horizontal angle (float), Channel count, Point count of channel 0, ... Point count of channel n, }

The points are stored in an array of floats

{ X0, Y0, Z0, I0 ... Xn, Yn, Zn, In }

Definition at line 52 of file LidarData.h.

Constructor & Destructor Documentation

LidarDetection() [1/3]

carla::sensor::data::LidarDetection::LidarDetection ( )

inline

Definition at line 57 of file LidarData.h.

LidarDetection() [2/3]

carla::sensor::data::LidarDetection::LidarDetection ( float  x, float  y, float  z, float  intensity  )

inline

Definition at line 59 of file LidarData.h.

LidarDetection() [3/3]

carla::sensor::data::LidarDetection::LidarDetection ( geom::Location  p, float  intensity  )

inline

Definition at line 61 of file LidarData.h.

Member Function Documentation

WriteDetection()

void carla::sensor::data::LidarDetection::WriteDetection ( std::ostream &  out ) const

inline

Definition at line 71 of file LidarData.h.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

WritePlyHeaderInfo()

void carla::sensor::data::LidarDetection::WritePlyHeaderInfo ( std::ostream &  out ) const

inline

Definition at line 64 of file LidarData.h.

Member Data Documentation

intensity

float carla::sensor::data::LidarDetection::intensity

Definition at line 55 of file LidarData.h.

Referenced by ARayCastLidar::ComputeDetection(), ARayCastLidar::PostprocessDetection(), and carla::sensor::data::LidarData::WritePointSync().

point

geom::Location carla::sensor::data::LidarDetection::point

Definition at line 54 of file LidarData.h.

Referenced by ARayCastLidar::ComputeDetection(), ARayCastLidar::PostprocessDetection(), and carla::sensor::data::LidarData::WritePointSync().

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The documentation for this class was generated from the following file:

• LidarData.h