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Fixing semantic lidar returning 0 for ObjIdx and ObjTag #27

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Fixing semantic lidar returning 0 for ObjIdx and ObjTag #27

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5 changes: 3 additions & 2 deletions rllib_integration/sensors/sensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -165,9 +165,10 @@ def __init__(self, name, attributes, interface, parent):
def parse(self, sensor_data):
"""Parses the SemanticLidarMeasurememt into an numpy array"""
# sensor_data: [x, y, z, cos(angle), actor index, semantic tag]
points = np.frombuffer(sensor_data.raw_data, dtype=np.dtype('f4'))
points = np.frombuffer(sensor_data.raw_data, dtype=np.dtype([
('x', np.float32), ('y', np.float32), ('z', np.float32),
('CosAngle', np.float32), ('ObjIdx', np.uint32), ('ObjTag', np.uint32)]))
points = copy.deepcopy(points)
points = np.reshape(points, (int(points.shape[0] / 6), 6))
return points


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