def process_point_clouds(self, simulator_pc):
""" Invoked when a point cloud is received from the simulator.
"""
game_time = int(simulator_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(
simulator_pc.raw_data) > 0, 'Lidar did not send any points'
# Include the transform relative to the vehicle.
# simulator_pc.transform returns the world transform, but
# we do not use it directly.
msg = PointCloudMessage(
timestamp,
PointCloud.from_simulator_point_cloud(
simulator_pc, self._lidar_setup))
if self._release_data:
self._lidar_stream.send(msg)
self._lidar_stream.send(watermark_msg)
else:
# Pickle the data, and release it upon release msg receipt.
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_point_cloud(self, data):
self._counter += 1
if self._counter % self._modulo_to_send != 0:
return
timestamp = erdos.Timestamp(coordinates=[self._msg_cnt])
points = []
for data in pc2.read_points(data,
field_names=('x', 'y', 'z'),
skip_nans=True):
points.append([data[0], data[1], data[2]])
points = np.array(points)
point_cloud = pylot.perception.point_cloud.PointCloud(
points, self._lidar_setup)
msg = PointCloudMessage(timestamp, point_cloud)
self._point_cloud_stream.send(msg)
watermark_msg = erdos.WatermarkMessage(timestamp)
self._point_cloud_stream.send(watermark_msg)
self._logger.debug('@{}: sent message'.format(timestamp))
self._msg_cnt += 1
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)