RayCastLidar.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
 
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Sensor/LidarDescription.h"
#include "Carla/Sensor/Sensor.h"
#include "Carla/Sensor/RayCastSemanticLidar.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 
#include <util/disable-ue4-macros.h>
#include <carla/sensor/data/LidarData.h>
#include <util/enable-ue4-macros.h>
 
#include "RayCastLidar.generated.h"
 
/// A ray-cast based Lidar sensor.
UCLASS()
class CARLA_API ARayCastLidar : public ARayCastSemanticLidar
{
  GENERATED_BODY()
 
  using FLidarData = carla::sensor::data::LidarData;
  using FDetection = carla::sensor::data::LidarDetection;
 
public:
  static FActorDefinition GetSensorDefinition();
 
  ARayCastLidar(const FObjectInitializer &ObjectInitializer);
  virtual void Set(const FActorDescription &Description) override;
  virtual void Set(const FLidarDescription &LidarDescription) override;
 
  virtual void SendData(const float DeltaTime) override;
 
  const TArray<float>& GetTestPointCloud() const { return PointCloudLidarData; };
 
private:
  /// Compute the received intensity of the point
  float ComputeIntensity(const FSemanticDetection& RawDetection) const;
  FDetection ComputeDetection(const FHitResult& HitInfo, const FTransform& InverseSensorTransform) const;
 
  void PreprocessRays(uint32_t Channels, uint32_t MaxPointsPerChannel) override;
  bool PostprocessDetection(FDetection& Detection) const;
 
  void WriteDetectionAsync(uint32_t Channel, const FHitResult& HitInfo, const FTransform& InverseSensorTransform, const FVector& SensorLocation) override;
  void ResetDetections(uint32_t Channels, uint32_t MaxPointsPerChannel) override;
  void ComputeAndSaveDetections(const FTransform& SensorTransform) override;
 
  FLidarData LidarData;
 
  std::vector<std::vector<FDetection>> Detections;
 
  /// Enable/Disable general dropoff of lidar points
  bool DropOffGenActive;
 
  /// Slope for the intensity dropoff of lidar points, it is calculated
  /// throught the dropoff limit and the dropoff at zero intensity
  /// The points is kept with a probality alpha*Intensity + beta where
  /// alpha = (1 - dropoff_zero_intensity) / droppoff_limit
  /// beta = (1 - dropoff_zero_intensity)
  float DropOffAlpha;
  float DropOffBeta;
 
  // Way to access PointCloud data from the server.
  TArray<float> PointCloudLidarData;
};