{ "type": "sensor.lidar.ray_cast_semantic", "x": 1.3, "y": 0.0, "z": 2.5, "roll": 0.0, "pitch": 0.0, "yaw": -90.0, "horizontal_fov": 360.0, "id": "lidar_sem", },
Above is Semantic Lidar attributes mentioned. While collecting data through leaderboard script I found that semantic lidar data has shape (N, 6) . So technically frist three values are x,y,z (floats) next is cosine values (float) and object_indx and semantic_tag should be uint8 BUT I AM GETTING FLOAT32.
Below are images where I applied breakpoint() after entering in run_step function.
I will also add issues from Carla repo: https://github.com/carla-simulator/carla/issues/8419 , After going this issue you will understand there is no need to make semantic lidar data completely float, last two columns (object hit indx and semantic tag indx ) must be uint8.
I think this might be issue previous on Carla simulator mentioned in https://github.com/carla-simulator/carla/issues/8367
But now they have solved when we write script of Carla client side script from sctrach and mention semantic lidar. As I have tested that also.
But my issue is Semantic Lidar data is not properly in datatype manner while using Leaderboard script. Please see into this thing. And let me know if I am wrong somewhere....
@ICGog @felipecode @cmpute @joel-mb
{ "type": "sensor.lidar.ray_cast_semantic", "x": 1.3, "y": 0.0, "z": 2.5, "roll": 0.0, "pitch": 0.0, "yaw": -90.0, "horizontal_fov": 360.0, "id": "lidar_sem", },Above is Semantic Lidar attributes mentioned. While collecting data through leaderboard script I found that semantic lidar data has shape (N, 6) . So technically frist three values are x,y,z (floats) next is cosine values (float) and object_indx and semantic_tag should be uint8 BUT I AM GETTING FLOAT32.
Below are images where I applied breakpoint() after entering in run_step function.
I will also add issues from Carla repo: https://github.com/carla-simulator/carla/issues/8419 , After going this issue you will understand there is no need to make semantic lidar data completely float, last two columns (object hit indx and semantic tag indx ) must be uint8.
I think this might be issue previous on Carla simulator mentioned in https://github.com/carla-simulator/carla/issues/8367
But now they have solved when we write script of Carla client side script from sctrach and mention semantic lidar. As I have tested that also.
But my issue is Semantic Lidar data is not properly in datatype manner while using Leaderboard script. Please see into this thing. And let me know if I am wrong somewhere....
@ICGog @felipecode @cmpute @joel-mb