CARLA
RayCastLidar.h
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1 // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #pragma once
8 
9 
12 #include "Carla/Sensor/Sensor.h"
15 
19 
20 #include "RayCastLidar.generated.h"
21 
22 /// A ray-cast based Lidar sensor.
23 UCLASS()
24 class CARLA_API ARayCastLidar : public ARayCastSemanticLidar
25 {
26  GENERATED_BODY()
27 
28  using FLidarData = carla::sensor::data::LidarData;
29  using FDetection = carla::sensor::data::LidarDetection;
30 
31 public:
32  static FActorDefinition GetSensorDefinition();
33 
34  ARayCastLidar(const FObjectInitializer &ObjectInitializer);
35  virtual void Set(const FActorDescription &Description) override;
36  virtual void Set(const FLidarDescription &LidarDescription) override;
37 
38  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime);
39 
40 private:
41  /// Compute the received intensity of the point
42  float ComputeIntensity(const FSemanticDetection& RawDetection) const;
43  FDetection ComputeDetection(const FHitResult& HitInfo, const FTransform& SensorTransf) const;
44 
45  void PreprocessRays(uint32_t Channels, uint32_t MaxPointsPerChannel) override;
46  bool PostprocessDetection(FDetection& Detection) const;
47 
48  void ComputeAndSaveDetections(const FTransform& SensorTransform) override;
49 
50  FLidarData LidarData;
51 
52  /// Enable/Disable general dropoff of lidar points
53  bool DropOffGenActive;
54 
55  /// Slope for the intensity dropoff of lidar points, it is calculated
56  /// throught the dropoff limit and the dropoff at zero intensity
57  /// The points is kept with a probality alpha*Intensity + beta where
58  /// alpha = (1 - dropoff_zero_intensity) / droppoff_limit
59  /// beta = (1 - dropoff_zero_intensity)
60  float DropOffAlpha;
61  float DropOffBeta;
62 };
Helper class to store and serialize the data generated by a RawLidar.
This file contains definitions of common data structures used in traffic manager. ...
Definition: Carla.cpp:133
A definition of a Carla Actor with all the variation and attributes.
A ray-cast based Lidar sensor.
Definition: RayCastLidar.h:24
A ray-cast based Lidar sensor.
A description of a Carla Actor with all its variation.
Helper class to store and serialize the data generated by a Lidar.
Definition: LidarData.h:47