LidarRawData now inherits from LidarData to avoid repetion of code

LibCarla/source/carla/sensor/s11n/LidarData.h

@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/rpc/Location.h"
+#include "carla/sensor/s11n/LidarRawData.h"
 
 #include <cstdint>
 #include <vector>
@@ -61,56 +62,19 @@ namespace s11n {
       }
   };
 
-  class LidarData {
-    static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size");
-    static const int SizeLidarDetection = 4;
-
+  class LidarData : public LidarRawData{
     friend class LidarSerializer;
     friend class LidarHeaderView;
 
-    enum Index : size_t {
-      HorizontalAngle,
-      ChannelCount,
-      SIZE
-    };
-
   public:
     explicit LidarData(uint32_t ChannelCount = 0u)
-      : _header(Index::SIZE + ChannelCount, 0u) {
-      _header[Index::ChannelCount] = ChannelCount;
+      : LidarRawData(ChannelCount) {
     }
 
     LidarData &operator=(LidarData &&) = default;
 
-    float GetHorizontalAngle() const {
-      return reinterpret_cast<const float &>(_header[Index::HorizontalAngle]);
-    }
-
-    void SetHorizontalAngle(float angle) {
-      std::memcpy(&_header[Index::HorizontalAngle], &angle, sizeof(uint32_t));
-    }
-
-    uint32_t GetChannelCount() const {
-      return _header[Index::ChannelCount];
-    }
-
-    void Reset(uint32_t channel_point_count) {
-      std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
-      _max_channel_points = channel_point_count;
-
-      _aux_points.resize(GetChannelCount());
-      for (auto& aux : _aux_points) {
-        aux.clear();
-        aux.reserve(_max_channel_points);
-      }
-    }
-
-    void WritePointAsync(uint32_t channel, LidarDetection detection) {
-      DEBUG_ASSERT(GetChannelCount() > channel);
-      _aux_points[channel].emplace_back(detection);
-    }
-
     void SaveDetections() {
+      const uint32_t SizeLidarDetection = 4;
       _points.clear();
       _points.reserve(SizeLidarDetection * GetChannelCount() * _max_channel_points);
 
@@ -120,16 +84,11 @@ namespace s11n {
           _points.emplace_back(pt.point.x);
           _points.emplace_back(pt.point.y);
           _points.emplace_back(pt.point.z);
-          _points.emplace_back(pt.intensity);
+          _points.emplace_back(-1.0f); // FIXME Compute good Intensity here
         }
       }
     }
 
-  protected:
-    std::vector<uint32_t> _header;
-    std::vector<std::vector<LidarDetection>> _aux_points;
-    uint32_t _max_channel_points;
-
   private:
     std::vector<float> _points;
 

LibCarla/source/carla/sensor/s11n/LidarRawData.h

@@ -74,11 +74,7 @@ namespace s11n {
   class LidarRawData {
     static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size");
 
-    friend class LidarRawSerializer;
-    friend class LidarRawHeaderView;
-
-    static const int SizeLidarRawDetection = 6;
-
+  protected:
     enum Index : size_t {
       HorizontalAngle,
       ChannelCount,
@@ -136,8 +132,13 @@ namespace s11n {
     std::vector<std::vector<LidarRawDetection>> _aux_points;
     uint32_t _max_channel_points;
 
+
   private:
     std::vector<LidarRawDetection> _ser_points;
+
+  friend class LidarRawSerializer;
+  friend class LidarRawHeaderView;
+
   };
 
 } // namespace s11n

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp

@@ -116,7 +116,8 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
       const float Angle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * idxPtsOneLaser;
       if (ShootLaser(idxChannel, Angle, Point, Intensity)) {
         Mutex.Lock();
-        LidarData.WritePointAsync(idxChannel, {Point, Intensity});
+        FLidarRawDetection det {Point, Intensity, 2, 3};
+        LidarData.WritePointAsync(idxChannel, det);
         Mutex.Unlock();
       }
     });

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h

@@ -24,6 +24,8 @@ class CARLA_API ARayCastLidar : public ASensor
   GENERATED_BODY()
 
   using FLidarData = carla::sensor::s11n::LidarData;
+  using FLidarRawDetection = carla::sensor::s11n::LidarRawDetection;
+  using FLidarDetection = carla::sensor::s11n::LidarDetection;
 
 public: