carla::sensor::data::SemanticLidarDetection Class Reference

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

#include <SemanticLidarData.h>

Collaboration diagram for carla::sensor::data::SemanticLidarDetection:

Public Member Functions
	SemanticLidarDetection ()=default
	SemanticLidarDetection (float x, float y, float z, float cosTh, uint32_t idx, uint32_t tag)
	SemanticLidarDetection (geom::Location p, float cosTh, uint32_t idx, uint32_t tag)
void	WriteDetection (std::ostream &out) const
void	WritePlyHeaderInfo (std::ostream &out) const

Public Attributes
float	cos_inc_angle {}
uint32_t	object_idx {}
uint32_t	object_tag {}
geom::Location	point {}

Detailed Description

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

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 detections, each detection consist in four floats, the point detected and the angle between the casted ray and the normal of the hitted object, and two unsigned integers, the index and the semantic tag of the hitted object

{ X0, Y0, Z0, Cos(TH0), idx_0, tag_0 ... Xn, Yn, Zn, Cos(THn), idx_n, tag_n }

Definition at line 56 of file SemanticLidarData.h.

Constructor & Destructor Documentation

SemanticLidarDetection() [1/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( )

default

SemanticLidarDetection() [2/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( float  x, float  y, float  z, float  cosTh, uint32_t  idx, uint32_t  tag  )

inline

Definition at line 65 of file SemanticLidarData.h.

SemanticLidarDetection() [3/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( geom::Location  p, float  cosTh, uint32_t  idx, uint32_t  tag  )

inline

Definition at line 67 of file SemanticLidarData.h.

Member Function Documentation

WriteDetection()

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

inline

Definition at line 79 of file SemanticLidarData.h.

WritePlyHeaderInfo()

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

inline

Definition at line 70 of file SemanticLidarData.h.

Member Data Documentation

cos_inc_angle

float carla::sensor::data::SemanticLidarDetection::cos_inc_angle {}

Definition at line 59 of file SemanticLidarData.h.

Referenced by ARayCastSemanticLidar::ComputeRawDetection().

object_idx

uint32_t carla::sensor::data::SemanticLidarDetection::object_idx {}

Definition at line 60 of file SemanticLidarData.h.

Referenced by ARayCastSemanticLidar::ComputeRawDetection().

object_tag

uint32_t carla::sensor::data::SemanticLidarDetection::object_tag {}

Definition at line 61 of file SemanticLidarData.h.

Referenced by ARayCastSemanticLidar::ComputeRawDetection().

point

geom::Location carla::sensor::data::SemanticLidarDetection::point {}

Definition at line 58 of file SemanticLidarData.h.

Referenced by ARayCastLidar::ComputeIntensity(), and ARayCastSemanticLidar::ComputeRawDetection().

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

• SemanticLidarData.h