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Change from xyz to rpc::Location

This commit is contained in:
Daniel Santos-Olivan 2020-07-07 14:21:33 +02:00 committed by Marc Garcia Puig
parent 1d9bb78a8d
commit a3ba5ca8f0
1 changed files with 7 additions and 9 deletions
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16
LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
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@ -42,16 +42,14 @@ namespace s11n {
class LidarDetection {
public:
float x; // m/s
float y; // rad
float z; // rad
float intensity; // m
rpc::Location Point;
float intensity;
static const int SIZE = 4;
LidarDetection(float x, float y, float z, float intensity) :
x{x*1e-2f}, y{y*1e-2f}, z{z*1e-2f}, intensity{intensity} { }
Point(x, y, z), intensity{intensity} { }
LidarDetection(rpc::Location p, float intensity) :
x{p.x}, y{p.y}, z{p.z}, intensity{intensity} { }
Point(p), intensity{intensity} { }
};
@ -112,9 +110,9 @@ 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.x);
_points.emplace_back(pt.y);
_points.emplace_back(pt.z);
_points.emplace_back(pt.Point.x);
_points.emplace_back(pt.Point.y);
_points.emplace_back(pt.Point.z);
_points.emplace_back(pt.intensity);
}
}