Lidarimprovements #2011
Lidarimprovements #2011
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| @@ -160,7 +160,8 @@ void ASimModeBase::initializeTimeOfDay() | |||
| UObjectProperty* sun_prop = Cast<UObjectProperty>(p); | |||
| UObject* sun_obj = sun_prop->GetObjectPropertyValue_InContainer(sky_sphere_); | |||
| sun_ = Cast<ADirectionalLight>(sun_obj); | |||
| default_sun_rotation_ = sun_->GetActorRotation(); | |||
| if (sun_) | |||
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remove this change.
same as #2062.
(this seems like a git merge issue on your side to me (we don't need optionsmenu.uasset && BP_LevelLoadButton.uasset))
please remove them as well if so
| @@ -75,6 +75,9 @@ class RpcLibClientBase { | |||
| msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "") const; | |||
| msr::airlib::DistanceBase::Output getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "") const; | |||
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| // sensor omniscient APIs | |||
| vector<int> simGetLidarSegmentation(const std::string& lidar_name = "", const std::string& vehicle_name = "") const; | |||
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maybe we should just call this getLidarSegmentationData to keep it in line with getLidarData?
| break; | ||
| } | ||
| } | ||
| auto *lidar = findLidarByName(lidar_name); |
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I like this function, but I don't like the inconsistent indentation
| @@ -260,6 +256,27 @@ class VehicleApiBase : public UpdatableObject { | |||
| : VehicleControllerException(message) { | |||
| } | |||
| }; | |||
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| private: | |||
| @@ -68,7 +68,7 @@ class LidarSimple : public LidarBase { | |||
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| protected: | |||
| virtual void getPointCloud(const Pose& lidar_pose, const Pose& vehicle_pose, | |||
| TTimeDelta delta_time, vector<real_T>& point_cloud) = 0; | |||
| TTimeDelta delta_time, vector<real_T>& point_cloud, vector<int>& segmentation_cloud) = 0; | |||
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Does it make sense to have a different sensor - LidarSimpleSegmentation which has the segmentation IDs per point?
I am not sure how much is the effect of getting segmentation IDs is on a pure geometric lidar in the backend, as the end user may / may not need getSegmentationOutput
If you have a different sensor, you can have getLidarSegmentationData which can a return a object of type msr::airlib::LidarDatawithSegmentation (or a innocuously misleading msr::airlib::LidarSegmentationData), which contains XYZSegID
latter seems a more cleaner API to me
| @@ -102,11 +104,13 @@ class LidarSimple : public LidarBase { | |||
| last_time_ = output.time_stamp; | |||
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| setOutput(output); | |||
| setSegmentationOutput(segmentation_cloud_); | |||
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indentation.. elsewhere as well
| @@ -203,6 +206,9 @@ | |||
| <ClInclude Include="Unreal\Plugins\AirSim\Source\Weather\WeatherLib.h"> | |||
| <Filter>Source Files</Filter> | |||
| </ClInclude> | |||
| <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealLidarSensor.h"> | |||
| <Filter>Source Files</Filter> | |||
| </ClInclude> | |||
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kinda surprised that this was already not in the upstream vcxproj
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@ironclownfish see above. |
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also, please add documentation for this |
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Returns the segmentation of each lidar point's collided object in the last lidar update. i.e. the segmentation IDs align with getLidarData().point_cloud
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…finition in UnrealLidarSensor::getPointCloud from vector to msr::airlib::vector
fixed type naming error created by PR #2011
Added an api function: simGetLidarSegmentation().
Returns the segmentation of each lidar point's collided object in the last lidar update. i.e. the segmentation IDs align with getLidarData().point_cloud