From 1926b68e707fd77ab39c88e7d6247a0c99023312 Mon Sep 17 00:00:00 2001
From: Daniel Santos-Olivan <dsantosolivan@gmail.com>
Date: Tue, 7 Jul 2020 18:28:42 +0200
Subject: [PATCH] Change variable name to adapt to code standard and added
 stream operator for LidarDetection

---
 LibCarla/source/carla/pointcloud/PointCloudIO.h      |  2 +-
 LibCarla/source/carla/sensor/data/LidarMeasurement.h |  1 -
 LibCarla/source/carla/sensor/s11n/LidarMeasurement.h | 12 ++++++------
 PythonAPI/carla/source/libcarla/SensorData.cpp       | 11 ++++++++++-
 4 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/LibCarla/source/carla/pointcloud/PointCloudIO.h b/LibCarla/source/carla/pointcloud/PointCloudIO.h
index fab4a63c5..76f19395c 100644
--- a/LibCarla/source/carla/pointcloud/PointCloudIO.h
+++ b/LibCarla/source/carla/pointcloud/PointCloudIO.h
@@ -22,7 +22,7 @@ namespace pointcloud {
       DEBUG_ASSERT(std::distance(begin, end) >= 0);
       WriteHeader(out, static_cast<size_t>(std::distance(begin, end)));
       for (; begin != end; ++begin) {
-        out << begin->Point.x << ' ' << begin->Point.y << ' ' << begin->Point.z <<  ' ' << begin->intensity << '\n';
+        out << begin->point.x << ' ' << begin->point.y << ' ' << begin->point.z <<  ' ' << begin->intensity << '\n';
       }
     }
 
diff --git a/LibCarla/source/carla/sensor/data/LidarMeasurement.h b/LibCarla/source/carla/sensor/data/LidarMeasurement.h
index e031b8fda..1abc35329 100644
--- a/LibCarla/source/carla/sensor/data/LidarMeasurement.h
+++ b/LibCarla/source/carla/sensor/data/LidarMeasurement.h
@@ -22,7 +22,6 @@ namespace data {
     using Super = Array<s11n::LidarDetection>;
 
   protected:
-
     using Serializer = s11n::LidarSerializer;
 
     friend Serializer;
diff --git a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h b/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
index 99856999b..293c4ff5e 100644
--- a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
+++ b/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
@@ -42,13 +42,13 @@ namespace s11n {
 
   class LidarDetection {
     public:
-      geom::Location Point;
+      geom::Location point;
       float intensity;
 
       LidarDetection(float x, float y, float z, float intensity) :
-          Point(x, y, z), intensity{intensity} { }
+          point(x, y, z), intensity{intensity} { }
       LidarDetection(geom::Location p, float intensity) :
-          Point(p), intensity{intensity} { }
+          point(p), intensity{intensity} { }
   };
 
   class LidarMeasurement {
@@ -109,9 +109,9 @@ namespace s11n {
       for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel) {
         _header[Index::SIZE + idxChannel] = static_cast<uint32_t>(_aux_points.size());
         for (auto& pt : _aux_points[idxChannel]) {
-          _points.emplace_back(pt.Point.x);
-          _points.emplace_back(pt.Point.y);
-          _points.emplace_back(pt.Point.z);
+          _points.emplace_back(pt.point.x);
+          _points.emplace_back(pt.point.y);
+          _points.emplace_back(pt.point.z);
           _points.emplace_back(pt.intensity);
         }
       }
diff --git a/PythonAPI/carla/source/libcarla/SensorData.cpp b/PythonAPI/carla/source/libcarla/SensorData.cpp
index af34eadc8..202582e5d 100644
--- a/PythonAPI/carla/source/libcarla/SensorData.cpp
+++ b/PythonAPI/carla/source/libcarla/SensorData.cpp
@@ -128,6 +128,15 @@ namespace s11n {
     return out;
   }
 
+  std::ostream &operator<<(std::ostream &out, const LidarDetection &det) {
+    out << "LidarDetection(x=" << std::to_string(det.point.x)
+        << ", y=" << std::to_string(det.point.y)
+        << ", z=" << std::to_string(det.point.z)
+        << ", intensity=" << std::to_string(det.intensity)
+        << ')';
+    return out;
+  }
+
 } // namespace s11n
 } // namespace sensor
 } // namespace carla
@@ -320,7 +329,7 @@ void export_sensor_data() {
   ;
 
   class_<css::LidarDetection>("LidarDetection")
-    .def_readwrite("point", &css::LidarDetection::Point)
+    .def_readwrite("point", &css::LidarDetection::point)
     .def_readwrite("intensity", &css::LidarDetection::intensity)
     .def(self_ns::str(self_ns::self))
   ;