CARLA : sensor radar

資料內容:

ref:

• carla.RadarDetection

radar sensor point 的資料是:

• altitude (float – radians) : Altitude angle of the detection.
• azimuth (float – radians) : Azimuth angle of the detection.
• depth (float – meters) : Distance from the sensor to the detection position.
• velocity (float – m/s) : The velocity of the detected object towards the sensor.

但是沒有說坐標系...例如 0 度是在哪 ?

follow unreal engines coordinate system ?
ref:

• coordinate system and pace in unreal engine

---

操作

ref:

• Radar sensor

有說明，從 raw_data 轉成 上述內容的 sample code:

# To get a numpy [[vel, azimuth, altitude, depth],...[,,,]]:
points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (len(radar_data), 4))

-- comment 排列方式跟上面的剛好不一樣

PythonAPI/example 中的 manual_control.py 有 G 可以toggle radar point 在畫面上。