From ba230da58f50ea89d7c249e0917acddaf39f172b Mon Sep 17 00:00:00 2001 From: Daniel Santos-Olivan Date: Mon, 29 Jun 2020 10:53:16 +0200 Subject: [PATCH] Small update in the drop off random values. --- .../Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp index 1c9767bef..d60c96b21 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp @@ -142,7 +142,7 @@ float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FVector bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle, FVector &XYZ, float &Intensity) const { - if(RandomEngine->GetUniformFloat() > 0.7f) + if(RandomEngine->GetUniformFloat() > 0.55f) return false; const float VerticalAngle = LaserAngles[Channel]; @@ -192,7 +192,7 @@ bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle Intensity = ComputeIntensity(LidarBodyLoc, XYZ, HitInfo); - if(Intensity*0.5 + 0.5 < RandomEngine->GetUniformFloat()) + if(Intensity*0.5 + 0.6 < RandomEngine->GetUniformFloat()) return false; return true;