def send_lidar_msg(self,
point_cloud_stream,
simulator_pc,
timestamp,
lidar_setup,
ego_transform=None):
"""Transforms and sends a point cloud reading.
This method is transforms a point cloud from the challenge format
to the type Pylot uses, and it sends it on the point cloud stream.
"""
# Remove the intensity component of the point cloud.
simulator_pc = simulator_pc[:, :3]
point_cloud = PointCloud(simulator_pc, lidar_setup)
if self._last_point_cloud is not None:
# TODO(ionel): Should offset the last point cloud wrt to the
# current location.
# self._last_point_cloud.global_points = \
# ego_transform.transform_points(
# self._last_point_cloud.global_points)
# self._last_point_cloud.points = \
# self._last_point_cloud._to_camera_coordinates(
# self._last_point_cloud.global_points)
point_cloud.merge(self._last_point_cloud)
point_cloud_stream.send(
pylot.perception.messages.PointCloudMessage(
timestamp, point_cloud))
point_cloud_stream.send(erdos.WatermarkMessage(timestamp))
# global_pc = ego_transform.inverse_transform_points(simulator_pc)
self._last_point_cloud = PointCloud(simulator_pc, lidar_setup)
def send_lidar_msg(self,
carla_pc,
transform,
timestamp,
ego_transform=None):
# Remove the intensity component of the point cloud.
carla_pc = carla_pc[:, :3]
point_cloud = PointCloud(carla_pc, self._lidar_setup)
if self._last_point_cloud is not None:
# TODO(ionel): Should offset the last point cloud wrt to the
# current location.
# self._last_point_cloud.global_points = \
# ego_transform.transform_points(
# self._last_point_cloud.global_points)
# self._last_point_cloud.points = \
# self._last_point_cloud._to_camera_coordinates(
# self._last_point_cloud.global_points)
point_cloud.merge(self._last_point_cloud)
self._point_cloud_stream.send(
pylot.perception.messages.PointCloudMessage(
timestamp, point_cloud))
self._point_cloud_stream.send(erdos.WatermarkMessage(timestamp))
# global_pc = ego_transform.inverse_transform_points(carla_pc)
self._last_point_cloud = PointCloud(carla_pc, self._lidar_setup)