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Daniel Santos-Olivan 2020-07-28 12:27:28 +02:00 committed by DSantosO
parent afd43914e9
commit 20df95d202
1 changed files with 2 additions and 2 deletions
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4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
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@ -66,7 +66,7 @@ void ARayCastLidar::Tick(const float DeltaTime)
float ARayCastLidar::ComputeIntensity(const FRawDetection& RawDetection) const
{
const carla::geom::Location HitPoint = RawDetection.point;
const float Distance = HitPoint.Length();
const float Distance = HitPoint.Length();
const float AttenAtm = Description.AtmospAttenRate;
const float AbsAtm = exp(-AttenAtm * Distance);
@ -82,7 +82,7 @@ ARayCastLidar::FDetection ARayCastLidar::ComputeDetection(const FHitResult& HitI
const FVector HitPoint = HitInfo.ImpactPoint;
Detection.point = SensorTransf.Inverse().TransformPosition(HitPoint);
const float Distance = Detection.point.Length();
const float Distance = Detection.point.Length();
const float AttenAtm = Description.AtmospAttenRate;
const float AbsAtm = exp(-AttenAtm * Distance);