carla::sensor::data::LidarMeasurement Class Reference

Measurement produced by a Lidar. More...

#include <LidarMeasurement.h>

Inheritance diagram for carla::sensor::data::LidarMeasurement:

Collaboration diagram for carla::sensor::data::LidarMeasurement:

Public Member Functions
auto	GetChannelCount () const
	Number of channels of the Lidar. More...
auto	GetHorizontalAngle () const
	Horizontal angle of the Lidar at the time of the measurement. More...
auto	GetPointCount (size_t channel) const
	Retrieve the number of points that channel generated. More...
Public Member Functions inherited from carla::sensor::data::Array< data::LidarDetection >
reference	at (size_type pos)
const_reference	at (size_type pos) const
iterator	begin ()
const_iterator	begin () const
const_iterator	cbegin () const
const_iterator	cend () const
const_reverse_iterator	crbegin () const
const_reverse_iterator	crend () const
value_type *	data ()
const value_type *	data () const
bool	empty () const
iterator	end ()
const_iterator	end () const
reference	operator[] (size_type pos)
const_reference	operator[] (size_type pos) const
reverse_iterator	rbegin ()
const_reverse_iterator	rbegin () const
reverse_iterator	rend ()
const_reverse_iterator	rend () const
size_type	size () const
Public Member Functions inherited from carla::sensor::SensorData
size_t	GetFrame () const
	Frame count when the data was generated. More...
const rpc::Transform &	GetSensorTransform () const
	Sensor's transform when the data was generated. More...
double	GetTimestamp () const
	Simulation-time when the data was generated. More...
virtual	~SensorData ()=default

Protected Types
using	Serializer = s11n::LidarSerializer

Protected Member Functions
	LidarMeasurement (RawData &&data)
Protected Member Functions inherited from carla::sensor::data::Array< data::LidarDetection >
	Array (RawData &&data, FuncT get_offset)
	Array (size_t offset, RawData &&data)
const RawData &	GetRawData () const
Protected Member Functions inherited from carla::sensor::SensorData
const auto &	GetEpisode () const
	SensorData (size_t frame, double timestamp, const rpc::Transform &sensor_transform)
	SensorData (const RawData &data)

Protected Attributes
friend	Serializer

Private Types
using	Super = Array< data::LidarDetection >

Private Member Functions
auto	GetHeader () const

Additional Inherited Members
Public Types inherited from carla::sensor::data::Array< data::LidarDetection >
using	const_iterator = typename std::add_const< value_type >::type *
using	const_pointer = typename std::add_const< value_type >::type *
using	const_reference = typename std::add_const< value_type >::type &
using	const_reverse_iterator = std::reverse_iterator< const_iterator >
using	iterator = value_type *
using	pointer = value_type *
using	reference = value_type &
using	reverse_iterator = std::reverse_iterator< iterator >
using	size_type = size_t
using	value_type = data::LidarDetection

Detailed Description

Measurement produced by a Lidar.

Consists of an array of 3D points plus some extra meta-information about the Lidar.

Definition at line 20 of file LidarMeasurement.h.

Member Typedef Documentation

Serializer

using carla::sensor::data::LidarMeasurement::Serializer = s11n::LidarSerializer

protected

Definition at line 25 of file LidarMeasurement.h.

Super

using carla::sensor::data::LidarMeasurement::Super = Array<data::LidarDetection>

private

Definition at line 22 of file LidarMeasurement.h.

Constructor & Destructor Documentation

LidarMeasurement()

carla::sensor::data::LidarMeasurement::LidarMeasurement ( RawData &&  data )

inlineexplicitprotected

Definition at line 29 of file LidarMeasurement.h.

References carla::sensor::s11n::LidarSerializer::GetHeaderOffset().

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Member Function Documentation

GetChannelCount()

auto carla::sensor::data::LidarMeasurement::GetChannelCount ( ) const

inline

Number of channels of the Lidar.

Definition at line 47 of file LidarMeasurement.h.

References GetHeader().

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GetHeader()

auto carla::sensor::data::LidarMeasurement::GetHeader ( ) const

inlineprivate

Definition at line 36 of file LidarMeasurement.h.

References carla::sensor::s11n::LidarSerializer::DeserializeHeader(), and carla::sensor::data::Array< data::LidarDetection >::GetRawData().

Referenced by GetChannelCount(), GetHorizontalAngle(), and GetPointCount().

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GetHorizontalAngle()

auto carla::sensor::data::LidarMeasurement::GetHorizontalAngle ( ) const

inline

Horizontal angle of the Lidar at the time of the measurement.

Definition at line 42 of file LidarMeasurement.h.

References GetHeader().

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GetPointCount()

auto carla::sensor::data::LidarMeasurement::GetPointCount ( size_t  channel ) const

inline

Retrieve the number of points that channel generated.

Points are sorted by channel, so this method allows to identify the channel that generated each point.

Definition at line 54 of file LidarMeasurement.h.

References GetHeader().

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Member Data Documentation

Serializer

friend carla::sensor::data::LidarMeasurement::Serializer

protected

Definition at line 27 of file LidarMeasurement.h.

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

• LidarMeasurement.h