SensorRegistry.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>.
 
#ifndef LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
#define LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
 
#include "carla/sensor/CompositeSerializer.h"
 
// =============================================================================
// Follow the 4 steps to register a new sensor.
// =============================================================================
 
// 1. Include the serializer here.
#include "carla/sensor/s11n/CollisionEventSerializer.h"
#include "carla/sensor/s11n/DVSEventArraySerializer.h"
#include "carla/sensor/s11n/EpisodeStateSerializer.h"
#include "carla/sensor/s11n/GnssSerializer.h"
#include "carla/sensor/s11n/ImageSerializer.h"
#include "carla/sensor/s11n/NormalsImageSerializer.h"
#include "carla/sensor/s11n/DistanceImageSerializer.h"
#include "carla/sensor/s11n/OpticalFlowImageSerializer.h"
#include "carla/sensor/s11n/IMUSerializer.h"
#include "carla/sensor/s11n/LidarSerializer.h"
#include "carla/sensor/s11n/NoopSerializer.h"
#include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
#include "carla/sensor/s11n/RadarSerializer.h"
#include "carla/sensor/s11n/SemanticLidarSerializer.h"
#include "carla/sensor/s11n/GBufferUint8Serializer.h"
#include "carla/sensor/s11n/GBufferFloatSerializer.h"
#include "carla/sensor/s11n/V2XSerializer.h"
#include "carla/sensor/s11n/VehicleStatusSerializer.h" // Autoware
 
// 2. Add a forward-declaration of the sensor here.
class ACollisionSensor;
class ADepthCamera;
class ANormalsCamera;
class ADVSCamera;
class AGnssSensor;
class AInertialMeasurementUnit;
class ALaneInvasionSensor;
class AObstacleDetectionSensor;
class AOpticalFlowCamera;
class ARadar;
class ARayCastSemanticLidar;
class ARayCastLidar;
class ASceneCaptureCamera;
class ASceneCaptureCamera_RayTracedLens;
class ASceneCaptureCamera_RayTracedLensDistance;
class ASceneCaptureCamera_RayTracedLensInstance;
class ASemanticSegmentationCamera;
class AInstanceSegmentationCamera;
class ARssSensor;
class FWorldObserver;
class ASceneCaptureCamera_WideAngleLens;
class ADepthCamera_WideAngleLens;
class AInstanceSegmentationCamera_WideAngleLens;
class ASemanticSegmentationCamera_WideAngleLens;
struct FCameraGBufferUint8;
struct FCameraGBufferFloat;
class AHSSLidar;
class AV2XSensor;
class ACustomV2XSensor;
class AVehicleStatusSensor; // Autoware
class AAutowareGnssSensor; // Autoware
 
namespace carla {
namespace sensor {
 
  // 3. Register the sensor and its serializer in the SensorRegistry.
 
  /// Contains a registry of all the sensors available and allows serializing
  /// and deserializing sensor data for the types registered.
  ///
  /// Use s11n::NoopSerializer if the sensor does not send data (sensors that
  /// work only on client-side).
  using SensorRegistry = CompositeSerializer<
    std::pair<ACollisionSensor *, s11n::CollisionEventSerializer>,
    std::pair<ADepthCamera *, s11n::ImageSerializer>,
    std::pair<ANormalsCamera *, s11n::NormalsImageSerializer>,
    std::pair<ADVSCamera *, s11n::DVSEventArraySerializer>,
    std::pair<AGnssSensor *, s11n::GnssSerializer>,
    std::pair<AInertialMeasurementUnit *, s11n::IMUSerializer>,
    std::pair<ALaneInvasionSensor *, s11n::NoopSerializer>,
    std::pair<AObstacleDetectionSensor *, s11n::ObstacleDetectionEventSerializer>,
    std::pair<AOpticalFlowCamera *, s11n::OpticalFlowImageSerializer>,
    std::pair<ARadar *, s11n::RadarSerializer>,
    std::pair<ARayCastSemanticLidar *, s11n::SemanticLidarSerializer>,
    std::pair<ARayCastLidar *, s11n::LidarSerializer>,
    std::pair<ARssSensor *, s11n::NoopSerializer>,
    std::pair<ASceneCaptureCamera *, s11n::ImageSerializer>,
    std::pair<ASceneCaptureCamera_RayTracedLens *, s11n::ImageSerializer>,
    std::pair<ASemanticSegmentationCamera *, s11n::ImageSerializer>,
    std::pair<AInstanceSegmentationCamera *, s11n::ImageSerializer>,
    std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>,
    std::pair<ASceneCaptureCamera_WideAngleLens *, s11n::ImageSerializer>,
    std::pair<ADepthCamera_WideAngleLens *, s11n::ImageSerializer>,
    std::pair<AInstanceSegmentationCamera_WideAngleLens *, s11n::ImageSerializer>,
    std::pair<ASemanticSegmentationCamera_WideAngleLens *, s11n::ImageSerializer>,
    std::pair<FCameraGBufferUint8 *, s11n::GBufferUint8Serializer>,
    std::pair<FCameraGBufferFloat *, s11n::GBufferFloatSerializer>,
    std::pair<AHSSLidar *, s11n::LidarSerializer>,
    std::pair<AV2XSensor *, s11n::CAMDataSerializer>,
    std::pair<ACustomV2XSensor *, s11n::CustomV2XDataSerializer>,
    std::pair<AVehicleStatusSensor *, s11n::VehicleStatusSerializer>, // Autoware
    std::pair<AAutowareGnssSensor *, s11n::GnssSerializer>, // Autoware
    // Appended at the end on purpose: the position in this list IS the wire type id,
    // so inserting anywhere else would renumber every sensor after it.
    std::pair<ASceneCaptureCamera_RayTracedLensDistance *, s11n::DistanceImageSerializer>,
    // Tag AOV: the byte layout is the one sensor.camera.instance_segmentation already
    // uses (R = label, G/B = 16-bit actor id), so it ships as a plain image.
    std::pair<ASceneCaptureCamera_RayTracedLensInstance *, s11n::ImageSerializer>
  >;
 
} // namespace sensor
} // namespace carla
 
#endif // LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
 
#ifdef LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES
 
// 4. Include the sensor here.
#include "Carla/Sensor/CollisionSensor.h"
#include "Carla/Sensor/DepthCamera.h"
#include "Carla/Sensor/NormalsCamera.h"
#include "Carla/Sensor/DVSCamera.h"
#include "Carla/Sensor/GnssSensor.h"
#include "Carla/Sensor/InertialMeasurementUnit.h"
#include "Carla/Sensor/LaneInvasionSensor.h"
#include "Carla/Sensor/ObstacleDetectionSensor.h"
#include "Carla/Sensor/OpticalFlowCamera.h"
#include "Carla/Sensor/Radar.h"
#include "Carla/Sensor/RayCastLidar.h"
#include "Carla/Sensor/RayCastSemanticLidar.h"
#include "Carla/Sensor/RssSensor.h"
#include "Carla/Sensor/SceneCaptureCamera.h"
#include "Carla/Sensor/SceneCaptureCamera_RayTracedLens.h"
#include "Carla/Sensor/SceneCaptureCamera_RayTracedLensDistance.h"
#include "Carla/Sensor/SceneCaptureCamera_RayTracedLensInstance.h"
#include "Carla/Sensor/SemanticSegmentationCamera.h"
#include "Carla/Sensor/InstanceSegmentationCamera.h"
#include "Carla/Sensor/WorldObserver.h"
#include "Carla/Sensor/DepthCamera_WideAngleLens.h"
#include "Carla/Sensor/SceneCaptureCamera_WideAngleLens.h"
#include "Carla/Sensor/SemanticSegmentationCamera_WideAngleLens.h"
#include "Carla/Sensor/InstanceSegmentationCamera_WideAngleLens.h"
#include "Carla/Sensor/HSSLidar.h"
#include "Carla/Sensor/V2XSensor.h"
#include "Carla/Sensor/CustomV2XSensor.h"
#include "Carla/Autoware/Sensors/VehicleStatusSensor.h" // Autoware
#include "Carla/Autoware/Sensors/AutowareGnssSensor.h" // Autoware
 
#endif // LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES