Is the branch of cooperative-lidar-communicate really realize lidar data transmission between CAVs?

[kanglang123]

I just find it realize that ego can find nearby car by v2x manager when perception activate mode is set to false.

this part of code is at opencda/core/sensing/perception/perception_manager.py line:486-490 of opencda/core/sensing/perception/perception_manager.py

if not self.activate: self.search_nearby_cav() objects = self.deactivate_mode(objects) # maybe 当不检测的时候通过v2x来查到周围的车的位置来作为障碍物的位置 else: objects = self.activate_mode(objects)

could you explain which part of code implements the function of cooperative lidar communicate? I spent a long time not finding it.

[wangxso]

I found the method search_nearby_cav() in the branch cooperative-lidar-communicate

def search_nearby_cav(self):
        if self.v2x_manager is not None:
            print(f"nearby cav nearby {self.v2x_manager.cav_nearby}")
            for  _, vm in self.v2x_manager.cav_nearby.items():
                lidar = vm.v2x_manager.get_ego_lidar()
                print(f"lidar {lidar}")
        pass

When I contemplate it, I believe this is not a complete function.

[kanglang123]

I found the method search_nearby_cav() in the branch cooperative-lidar-communicate

def search_nearby_cav(self):
        if self.v2x_manager is not None:
            print(f"nearby cav nearby {self.v2x_manager.cav_nearby}")
            for  _, vm in self.v2x_manager.cav_nearby.items():
                lidar = vm.v2x_manager.get_ego_lidar()
                print(f"lidar {lidar}")
        pass

When I contemplate it, I believe this is not a complete function.

Yse, you and I think the same thing. In v2x_manager.py, I find that author added the functions named "v2x_manager.get_ego_lidar" and "v2x_manager.get_ego_rgb_image". I think we can use these two function to get perception information from other CAVs. By this way, it realize the perception information sharing. It's just that author didn't use "lidar" in the above code to implement a complete function.