Added Radar docs & updated Changelog

CHANGELOG.md

@@ -1,6 +1,7 @@
 ## Latest
   * Add build variant with AD RSS library integration with RSS sensor and result visualisation
   * Added new sensor: Inertial measurement unit (IMU)
+  * Added new sensor: Radar
   * Moved GNSS sensor from client to server side
   * Now all the camera-based sensors are provided with an additional parametrized lens distortion shader
   * API changes:
@@ -9,6 +10,7 @@
     - GNSS: `carla.GnssEvent` renamed to `carla.GnssMeasurement`
   * API extensions:
     - Added `carla.IMUMeasurement`
+    - Added `carla.RadarMeasurement` and `carla.RadarDetection`
     - GNSS data can now be obtained with noise
     - IMU data can now be obtained with noise
   * Updated manual_control.py with a lens disortion effect example

Docs/bp_library.md

@@ -136,6 +136,14 @@ Check out our [blueprint tutorial](../python_api_tutorial/#blueprints).
         - `only_dynamics` (_Bool_)<sub>_ – Modifiable_</sub>
         - `role_name` (_String_)<sub>_ – Modifiable_</sub>
         - `sensor_tick` (_Float_)<sub>_ – Modifiable_</sub>
+- **<font color="#498efc">sensor.other.radar</font>**  
+    - **Attributes:**
+        - `horizontal_fov` (_Float_)<sub>_ – Modifiable_</sub>
+        - `points_per_second` (_Int_)<sub>_ – Modifiable_</sub>
+        - `range` (_Float_)<sub>_ – Modifiable_</sub>
+        - `role_name` (_String_)<sub>_ – Modifiable_</sub>
+        - `sensor_tick` (_Float_)<sub>_ – Modifiable_</sub>
+        - `vertical_fov` (_Float_)<sub>_ – Modifiable_</sub>
 
 ### static
 - **<font color="#498efc">static.prop.advertisement</font>**  

Docs/python_api.md

@@ -715,6 +715,24 @@ Save the OpenDRIVE of the current map to disk.
 
 ---
 
+## carla.RadarDetection<a name="carla.RadarDetection"></a> <sub><sup>_class_</sup></sub>
+Data contained by a [carla.RadarMeasurement](#carla.RadarMeasurement). Represents an object detection produced by the Radar sensor.  
+
+<h3>Instance Variables</h3>
+- <a name="carla.RadarDetection.velocity"></a>**<font color="#f8805a">velocity</font>** (_float_)  
+The velocity of the detected object towards the sensor in meters per second.  
+- <a name="carla.RadarDetection.azimuth"></a>**<font color="#f8805a">azimuth</font>** (_float_)  
+Azimuth angle of the detection in radians.  
+- <a name="carla.RadarDetection.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)  
+Altitude angle of the detection in radians.  
+- <a name="carla.RadarDetection.depth"></a>**<font color="#f8805a">depth</font>** (_float_)  
+Distance in meters from the sensor to the detection position.  
+
+<h3>Methods</h3>
+- <a name="carla.RadarDetection.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)  
+
+---
+
 ## carla.Rotation<a name="carla.Rotation"></a> <sub><sup>_class_</sup></sub>
 Class that represents a 3D rotation. All rotation angles are stored in degrees.
 
@@ -1478,6 +1496,29 @@ Get obstacle distance.
 
 ---
 
+## carla.RadarMeasurement<a name="carla.RadarMeasurement"></a><sub><sup>([carla.SensorData](#carla.SensorData))</sup></sub> <sub><sup>_class_</sup></sub>
+Measurement produced by a Radar. Consists of an array of [carla.RadarDetection](#carla.RadarDetection).  
+
+<h3>Instance Variables</h3>
+- <a name="carla.RadarMeasurement.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)  
+List of [carla.RadarDetection](#carla.RadarDetection).  
+
+<h3>Methods</h3>
+- <a name="carla.RadarMeasurement.get_detection_count"></a>**<font color="#7fb800">get_detection_count</font>**(<font color="#00a6ed">**self**</font>)  
+Retrieve the number of [carla.RadarDetection](#carla.RadarDetection) that are generated.  
+- <a name="carla.RadarMeasurement.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)  
+- <a name="carla.RadarMeasurement.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)  
+- <a name="carla.RadarMeasurement.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)  
+    - **Parameters:**
+        - `pos` (_int_)  
+- <a name="carla.RadarMeasurement.__setitem__"></a>**<font color="#7fb800">\__setitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>, <font color="#00a6ed">**detection**</font>)  
+    - **Parameters:**
+        - `pos` (_int_)  
+        - `detection` (_[carla.RadarDetection](#carla.RadarDetection)_)  
+- <a name="carla.RadarMeasurement.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)  
+
+---
+
 ## carla.Sensor<a name="carla.Sensor"></a><sub><sup>([carla.Actor](#carla.Actor))</sup></sub> <sub><sup>_class_</sup></sub>
 A sensor actor.  
 

LibCarla/source/carla/sensor/data/RadarMeasurement.h

@@ -15,6 +15,8 @@ namespace carla {
 namespace sensor {
 namespace data {
 
+  /// Measurement produced by a Radar. Consists of an array of RadarDetection.
+  /// A RadarDetection contains 4 floats: velocity, azimuth, altitude and depth
   class RadarMeasurement : public Array<s11n::RadarDetection> {
     using Super = Array<s11n::RadarDetection>;
   protected:

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -281,12 +281,15 @@ void export_sensor_data() {
 
   class_<csd::RadarMeasurement, bases<cs::SensorData>, boost::noncopyable, boost::shared_ptr<csd::RadarMeasurement>>("RadarMeasurement", no_init)
     .add_property("raw_data", &GetRawDataAsBuffer<csd::RadarMeasurement>)
-    .def("get_point_count", &csd::RadarMeasurement::GetDetectionAmount)
+    .def("get_detection_count", &csd::RadarMeasurement::GetDetectionAmount)
     .def("__len__", &csd::RadarMeasurement::size)
     .def("__iter__", iterator<csd::RadarMeasurement>())
     .def("__getitem__", +[](const csd::RadarMeasurement &self, size_t pos) -> css::RadarDetection {
       return self.at(pos);
     })
+    .def("__setitem__", +[](csd::RadarMeasurement &self, size_t pos, const css::RadarDetection &detection) {
+      self.at(pos) = detection;
+    })
     .def(self_ns::str(self_ns::self))
   ;
 

PythonAPI/docs/sensor_data.yml

@@ -282,4 +282,76 @@
     - def_name: __str__
       doc: >
     # --------------------------------------
+
+  - class_name: RadarMeasurement
+    parent: carla.SensorData
+    # - DESCRIPTION ------------------------
+    doc: >
+      Measurement produced by a Radar. Consists of an array of carla.RadarDetection.
+    # - PROPERTIES -------------------------
+    instance_variables:
+    - var_name: raw_data
+      type: bytes
+      doc: >
+        List of carla.RadarDetection.
+    # - METHODS ----------------------------
+    methods:
+    - def_name: get_detection_count
+      doc: >
+        Retrieve the number of carla.RadarDetection that are generated.
+    # --------------------------------------
+    - def_name: __len__
+      doc: >
+    # --------------------------------------
+    - def_name: __iter__
+      doc: >
+    # --------------------------------------
+    - def_name: __getitem__
+      params:
+      - param_name: pos
+        type: int
+      doc: >
+    # --------------------------------------
+    - def_name: __setitem__
+      params:
+      - param_name: pos
+        type: int
+      - param_name: detection
+        type: carla.RadarDetection
+      doc: >
+    # --------------------------------------
+    - def_name: __str__
+      doc: >
+    # --------------------------------------
+
+  - class_name: RadarDetection
+    # - DESCRIPTION ------------------------
+    doc: >
+      Data contained by a carla.RadarMeasurement. Represents an object detection produced by the Radar sensor.
+    # - PROPERTIES -------------------------
+    instance_variables:
+    - var_name: velocity
+      type: float
+      doc: >
+        The velocity of the detected object towards the sensor in meters per second.
+    # --------------------------------------
+    - var_name: azimuth
+      type: float
+      doc: >
+        Azimuth angle of the detection in radians
+    # --------------------------------------
+    - var_name: altitude
+      type: float
+      doc: >
+        Altitude angle of the detection in radians
+    # --------------------------------------
+    - var_name: depth
+      type: float
+      doc: >
+        Distance in meters from the sensor to the detection position.
+    # - METHODS ----------------------------
+    methods:
+    - def_name: __str__
+      doc: >
+    # --------------------------------------
 ...