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Adds a ring field to the published pointcloud #431

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Adds a ring field to the published pointcloud #431

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e7cbcc6
Adds a ring field to the published pointcloud
Opletts Dec 8, 2020
964c0a4
Using get_point_count() to calculate ring according to (#432) and mov…
Opletts Jan 7, 2021
a37d0a1
Merge branch 'master' into lidar_field
Opletts Feb 15, 2021
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14 changes: 14 additions & 0 deletions carla_ros_bridge/src/carla_ros_bridge/lidar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@ def __init__(self, uid, name, parent, relative_spawn_pose, node, carla_actor, sy
self.lidar_publisher = rospy.Publisher(self.get_topic_prefix(),
PointCloud2,
queue_size=10)

self.channels = int(self.carla_actor.attributes.get('channels'))
self.listen()

# pylint: disable=arguments-differ
Expand All @@ -72,15 +74,27 @@ def sensor_data_updated(self, carla_lidar_measurement):
PointField('y', 4, PointField.FLOAT32, 1),
PointField('z', 8, PointField.FLOAT32, 1),
PointField('intensity', 12, PointField.FLOAT32, 1),
PointField('ring', 16, PointField.UINT16, 1)
]

lidar_data = numpy.fromstring(
bytes(carla_lidar_measurement.raw_data), dtype=numpy.float32)
lidar_data = numpy.reshape(
lidar_data, (int(lidar_data.shape[0] / 4), 4))

ring = None

for i in range(self.channels):
current_ring_points_count = carla_lidar_measurement.get_point_count(i)
ring = numpy.vstack((ring, numpy.full((current_ring_points_count, 1), i)))

ring = numpy.delete(ring, 0, axis=0)
lidar_data = numpy.hstack((lidar_data, ring))

# we take the oposite of y axis
# (as lidar point are express in left handed coordinate system, and ros need right handed)
lidar_data[:, 1] *= -1

point_cloud_msg = create_cloud(header, fields, lidar_data)
self.lidar_publisher.publish(point_cloud_msg)

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