def process_point_clouds(self, carla_pc):
""" Invoked when a pointcloud is received from the simulator.
Args:
carla_pc: a carla.SensorData object.
"""
game_time = int(carla_pc.timestamp * 1000)
timestamp = erdos.Timestamp(coordinates=[game_time])
watermark_msg = erdos.WatermarkMessage(timestamp)
with erdos.profile(self.config.name + '.process_point_clouds',
self,
event_data={'timestamp': str(timestamp)}):
# Ensure that the code executes serially
with self._lock:
assert len(
carla_pc.raw_data) > 0, 'Lidar did not send any points'
# Include the transform relative to the vehicle.
# Carla carla_pc.transform returns the world transform, but
# we do not use it directly.
msg = PointCloudMessage(
timestamp,
PointCloud.from_carla_point_cloud(carla_pc,
self._lidar_setup))
if self._release_data:
self._lidar_stream.send(msg)
self._lidar_stream.send(watermark_msg)
else:
pickled_msg = pickle.dumps(
msg, protocol=pickle.HIGHEST_PROTOCOL)
with self._pickle_lock:
self._pickled_messages[msg.timestamp] = pickled_msg
self._notify_reading_stream.send(watermark_msg)
def on_lidar_msg(carla_pc):
game_time = int(carla_pc.timestamp * 1000)
print("Received lidar msg {}".format(game_time))
lidar_transform = pylot.utils.Transform.from_carla_transform(
carla_pc.transform)
point_cloud = PointCloud.from_carla_point_cloud(carla_pc, lidar_transform)
camera_setup = CameraSetup("lidar_camera",
"sensor.camera.depth",
800,
600,
lidar_transform,
fov=90.0)
for (x, y) in pixels_to_check:
pixel = pylot.utils.Vector2D(x, y)
location = point_cloud.get_pixel_location(pixel, camera_setup)
print("{} Computed using lidar {}".format((x, y), location))
global lidar_pc
lidar_pc = point_cloud
def process_point_clouds(self, carla_pc):
""" Invoked when a pointcloud is received from the simulator.
Args:
carla_pc: a carla.SensorData object.
"""
# Ensure that the code executes serially
with self._lock:
game_time = int(carla_pc.timestamp * 1000)
timestamp = erdos.Timestamp(coordinates=[game_time])
watermark_msg = erdos.WatermarkMessage(timestamp)
# Include the transform relative to the vehicle.
# Carla carla_pc.transform returns the world transform, but
# we do not use it directly.
msg = PointCloudMessage(
PointCloud.from_carla_point_cloud(
carla_pc, self._lidar_setup.get_transform()), timestamp)
self._lidar_stream.send(msg)
# Note: The operator is set not to automatically propagate
# watermark messages received on input streams. Thus, we can
# issue watermarks only after the Carla callback is invoked.
self._lidar_stream.send(watermark_msg)