Is the branch of cooperative-lidar-communicate really realize lidar data transmission between CAVs? about opencda HOT 2 CLOSED

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.

from opencda.

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.

from opencda.