Fix error in the serializer of LidarMeasurament.

LibCarla/source/carla/pointcloud/PointCloudIO.cpp

@@ -18,6 +18,7 @@ namespace pointcloud {
            "property float32 x\n"
            "property float32 y\n"
            "property float32 z\n"
+           "property float32 I\n"
            // "property uchar diffuse_red\n"
            // "property uchar diffuse_green\n"
            // "property uchar diffuse_blue\n"

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->x << ' ' << begin->y << ' ' << begin->z << '\n';
+        out << begin->Point.x << ' ' << begin->Point.y << ' ' << begin->Point.z <<  ' ' << begin->intensity << '\n';
       }
     }
 

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

@@ -17,9 +17,9 @@ namespace data {
 
   /// Measurement produced by a Lidar. Consists of an array of 3D points plus
   /// some extra meta-information about the Lidar.
-  class LidarMeasurement : public Array<rpc::Location>  {
-    static_assert(sizeof(rpc::Location) == 3u * sizeof(float), "Location size missmatch");
-    using Super = Array<rpc::Location>;
+  class LidarMeasurement : public Array<s11n::LidarDetection>  {
+    static_assert(sizeof(s11n::LidarDetection) == 4u * sizeof(float), "Location size missmatch");
+    using Super = Array<s11n::LidarDetection>;
 
   protected:
 

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

@@ -42,19 +42,18 @@ namespace s11n {
 
   class LidarDetection {
     public:
-      rpc::Location Point;
+      geom::Location Point;
       float intensity;
-      static const int SIZE = 4;
 
       LidarDetection(float x, float y, float z, float intensity) :
           Point(x, y, z), intensity{intensity} { }
-      LidarDetection(rpc::Location p, float intensity) :
+      LidarDetection(geom::Location p, float intensity) :
           Point(p), intensity{intensity} { }
   };
 
-
   class LidarMeasurement {
     static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size");
+    static const int SizeLidarDetection = 4;
 
     friend class LidarSerializer;
     friend class LidarHeaderView;
@@ -89,7 +88,7 @@ namespace s11n {
     void Reset(uint32_t channels, uint32_t channel_point_count) {
       std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
       _points.clear();
-      _points.reserve(LidarDetection::SIZE * channels * channel_point_count);
+      _points.reserve(SizeLidarDetection * channels * channel_point_count);
 
       _aux_points.resize(channels);
 
@@ -116,11 +115,9 @@ namespace s11n {
           _points.emplace_back(pt.intensity);
         }
       }
-
     }
 
   private:
-
     std::vector<uint32_t> _header;
     std::vector<std::vector<LidarDetection>> _aux_points;
 

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -254,11 +254,11 @@ void export_sensor_data() {
     .def("save_to_disk", &SavePointCloudToDisk<csd::LidarMeasurement>, (arg("path")))
     .def("__len__", &csd::LidarMeasurement::size)
     .def("__iter__", iterator<csd::LidarMeasurement>())
-    .def("__getitem__", +[](const csd::LidarMeasurement &self, size_t pos) -> cr::Location {
+    .def("__getitem__", +[](const csd::LidarMeasurement &self, size_t pos) -> css::LidarDetection {
       return self.at(pos);
     })
-    .def("__setitem__", +[](csd::LidarMeasurement &self, size_t pos, const cr::Location &point) {
-      self.at(pos) = point;
+    .def("__setitem__", +[](csd::LidarMeasurement &self, size_t pos, const css::LidarDetection &detection) {
+      self.at(pos) = detection;
     })
     .def(self_ns::str(self_ns::self))
   ;
@@ -319,6 +319,12 @@ void export_sensor_data() {
     .def(self_ns::str(self_ns::self))
   ;
 
+  class_<css::LidarDetection>("LidarDetection")
+    .def_readwrite("point", &css::LidarDetection::Point)
+    .def_readwrite("intensity", &css::LidarDetection::intensity)
+    .def(self_ns::str(self_ns::self))
+  ;
+
   class_<csd::DVSEvent>("DVSEvent")
     .add_property("x", &csd::DVSEvent::x)
     .add_property("y", &csd::DVSEvent::y)

PythonAPI/docs/sensor_data.yml

@@ -161,12 +161,32 @@
       params:
       - param_name: pos
         type: int
-      - param_name: location
-        type: carla.Location
+      - param_name: detection
+        type: carla.LidarDetection
     # --------------------------------------
     - def_name: __str__
     # --------------------------------------
 
+  - class_name: LidarDetection
+    # - DESCRIPTION ------------------------
+    doc: >
+      Data contained inside a carla.LidarMeasurement. Each of these represents one of the points in the cloud with its location and its asociated intensity.
+    # - PROPERTIES -------------------------
+    instance_variables:
+    - var_name: point
+      type: carla.Location
+      doc: >
+        Point in xyz coordinates.
+    # --------------------------------------
+    - var_name: intensity
+      type: float
+      doc: >
+        Computed intensity for this point.
+    # - METHODS ----------------------------
+    methods:
+    - def_name: __str__
+    # --------------------------------------
+
   - class_name: CollisionEvent
     parent: carla.SensorData
     # - DESCRIPTION ------------------------