A ray-cast based Lidar sensor. More...

#include <RayCastLidar.h>

Inheritance diagram for ARayCastLidar:

Collaboration diagram for ARayCastLidar:

Public Member Functions
	ARayCastLidar (const FObjectInitializer &ObjectInitializer)

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime)

virtual void	Set (const FActorDescription &Description) override

virtual void	Set (const FLidarDescription &LidarDescription) override

Public Member Functions inherited from ARayCastSemanticLidar
	ARayCastSemanticLidar (const FObjectInitializer &ObjectInitializer)

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

virtual void	BeginPlay ()

boost::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream. More...

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

virtual void	PrePhysTick (float DeltaSeconds)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor. More...

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Static Public Member Functions inherited from ARayCastSemanticLidar
static FActorDefinition	GetSensorDefinition ()

Private Types
using	FDetection = carla::sensor::data::LidarDetection

using	FLidarData = carla::sensor::data::LidarData

Private Member Functions
void	ComputeAndSaveDetections (const FTransform &SensorTransform) override
	This method uses all the saved FHitResults, compute the RawDetections and then send it to the LidarData structure. More...

FDetection	ComputeDetection (const FHitResult &HitInfo, const FTransform &SensorTransf) const

float	ComputeIntensity (const FSemanticDetection &RawDetection) const
	Compute the received intensity of the point. More...

bool	PostprocessDetection (FDetection &Detection) const

void	PreprocessRays (uint32_t Channels, uint32_t MaxPointsPerChannel) override
	Method that allow to preprocess if the rays will be traced. More...

Private Attributes
float	DropOffAlpha
	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) More...

float	DropOffBeta

bool	DropOffGenActive
	Enable/Disable general dropoff of lidar points. More...

FLidarData	LidarData

Additional Inherited Members
Protected Types inherited from ARayCastSemanticLidar
using	FSemanticDetection = carla::sensor::data::SemanticLidarDetection

using	FSemanticLidarData = carla::sensor::data::SemanticLidarData

Protected Member Functions inherited from ARayCastSemanticLidar
void	ComputeRawDetection (const FHitResult &HitInfo, const FTransform &SensorTransf, FSemanticDetection &Detection) const
	Compute all raw detection information. More...

void	CreateLasers ()
	Creates a Laser for each channel. More...

void	ResetRecordedHits (uint32_t Channels, uint32_t MaxPointsPerChannel)
	Clear the recorded data structure. More...

bool	ShootLaser (const float VerticalAngle, float HorizontalAngle, FHitResult &HitResult, FCollisionQueryParams &TraceParams) const
	Shoot a laser ray-trace, return whether the laser hit something. More...

void	SimulateLidar (const float DeltaTime)
	Updates LidarMeasurement with the points read in DeltaTime. More...

void	WritePointAsync (uint32_t Channel, FHitResult &Detection)
	Saving the hits the raycast returns per channel. More...

Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorT >
FAsyncDataStream	GetDataStream (const SensorT &Self)
	Return the FDataStream associated with this sensor. More...

void	PostActorCreated () override

Protected Attributes inherited from ARayCastSemanticLidar
FLidarDescription	Description

TArray< float >	LaserAngles

std::vector< uint32_t >	PointsPerChannel

std::vector< std::vector< bool > >	RayPreprocessCondition

std::vector< std::vector< FHitResult > >	RecordedHits

Protected Attributes inherited from ASensor
bool	bIsActive = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output. More...

int32	Seed = 123456789
	Seed of the pseudo-random engine. More...

Detailed Description

A ray-cast based Lidar sensor.

Definition at line 24 of file RayCastLidar.h.

Member Typedef Documentation

◆ FDetection

using ARayCastLidar::FDetection = carla::sensor::data::LidarDetection

private

Definition at line 29 of file RayCastLidar.h.

◆ FLidarData

using ARayCastLidar::FLidarData = carla::sensor::data::LidarData

private

Definition at line 28 of file RayCastLidar.h.

Constructor & Destructor Documentation

◆ ARayCastLidar()

ARayCastLidar::ARayCastLidar ( const FObjectInitializer & ObjectInitializer )

Definition at line 30 of file RayCastLidar.cpp.

References ARayCastSemanticLidar::Description, ASensor::RandomEngine, FLidarDescription::RandomSeed, and ASensor::SetSeed().

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Member Function Documentation

◆ ComputeAndSaveDetections()

void ARayCastLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

overrideprivatevirtual

This method uses all the saved FHitResults, compute the RawDetections and then send it to the LidarData structure.

Reimplemented from ARayCastSemanticLidar.

Definition at line 149 of file RayCastLidar.cpp.

References FLidarDescription::Channels, ComputeDetection(), ARayCastSemanticLidar::Description, LidarData, ARayCastSemanticLidar::PointsPerChannel, PostprocessDetection(), ARayCastSemanticLidar::RecordedHits, carla::sensor::data::LidarData::ResetMemory(), carla::sensor::data::SemanticLidarData::WriteChannelCount(), and carla::sensor::data::LidarData::WritePointSync().

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◆ ComputeDetection()

ARayCastLidar::FDetection ARayCastLidar::ComputeDetection	(	const FHitResult &	HitInfo,
		const FTransform &	SensorTransf
	)		const

private

Definition at line 106 of file RayCastLidar.cpp.

References FLidarDescription::AtmospAttenRate, ARayCastSemanticLidar::Description, carla::sensor::data::LidarDetection::intensity, carla::geom::Vector3D::Length(), and carla::sensor::data::LidarDetection::point.

Referenced by ComputeAndSaveDetections().

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◆ ComputeIntensity()

float ARayCastLidar::ComputeIntensity ( const FSemanticDetection & RawDetection ) const

private

Compute the received intensity of the point.

Definition at line 93 of file RayCastLidar.cpp.

References FLidarDescription::AtmospAttenRate, ARayCastSemanticLidar::Description, carla::geom::Vector3D::Length(), and carla::sensor::data::SemanticLidarDetection::point.

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◆ GetSensorDefinition()

FActorDefinition ARayCastLidar::GetSensorDefinition ( )

static

Definition at line 24 of file RayCastLidar.cpp.

References UActorBlueprintFunctionLibrary::MakeLidarDefinition().

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◆ PostPhysTick()

void ARayCastLidar::PostPhysTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaTime
	)

virtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 58 of file RayCastLidar.cpp.

References carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), LidarData, and ARayCastSemanticLidar::SimulateLidar().

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◆ PostprocessDetection()

bool ARayCastLidar::PostprocessDetection ( FDetection & Detection ) const

private

Definition at line 134 of file RayCastLidar.cpp.

References ARayCastSemanticLidar::Description, DropOffAlpha, DropOffBeta, FLidarDescription::DropOffIntensityLimit, URandomEngine::GetNormalDistribution(), URandomEngine::GetUniformFloat(), carla::sensor::data::LidarDetection::intensity, carla::geom::Vector3D::MakeUnitVector(), FLidarDescription::NoiseStdDev, carla::sensor::data::LidarDetection::point, and ASensor::RandomEngine.

Referenced by ComputeAndSaveDetections().

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◆ PreprocessRays()

void ARayCastLidar::PreprocessRays	(	uint32_t	Channels,
		uint32_t	MaxPointsPerChannel
	)

overrideprivatevirtual

Method that allow to preprocess if the rays will be traced.

Reimplemented from ARayCastSemanticLidar.

Definition at line 124 of file RayCastLidar.cpp.

References ARayCastSemanticLidar::Description, DropOffGenActive, FLidarDescription::DropOffGenRate, URandomEngine::GetUniformFloat(), ASensor::RandomEngine, and ARayCastSemanticLidar::RayPreprocessCondition.

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◆ Set() [1/2]

void ARayCastLidar::Set ( const FActorDescription & Description )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 37 of file RayCastLidar.cpp.

References ASensor::Set(), and UActorBlueprintFunctionLibrary::SetLidar().

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◆ Set() [2/2]

void ARayCastLidar::Set ( const FLidarDescription & LidarDescription )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 45 of file RayCastLidar.cpp.

References FLidarDescription::Channels, ARayCastSemanticLidar::CreateLasers(), ARayCastSemanticLidar::Description, DropOffAlpha, FLidarDescription::DropOffAtZeroIntensity, DropOffBeta, DropOffGenActive, FLidarDescription::DropOffGenRate, FLidarDescription::DropOffIntensityLimit, LidarData, and ARayCastSemanticLidar::PointsPerChannel.

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Member Data Documentation

◆ DropOffAlpha

float ARayCastLidar::DropOffAlpha

private

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)

Definition at line 60 of file RayCastLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffBeta

float ARayCastLidar::DropOffBeta

private

Definition at line 61 of file RayCastLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffGenActive

bool ARayCastLidar::DropOffGenActive

private

Enable/Disable general dropoff of lidar points.

Definition at line 53 of file RayCastLidar.h.

Referenced by PreprocessRays(), and Set().

◆ LidarData

FLidarData ARayCastLidar::LidarData

private

Definition at line 50 of file RayCastLidar.h.

Referenced by ComputeAndSaveDetections(), PostPhysTick(), and Set().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ FDetection

◆ FLidarData

Constructor & Destructor Documentation

◆ ARayCastLidar()

Member Function Documentation

◆ ComputeAndSaveDetections()

◆ ComputeDetection()

◆ ComputeIntensity()

◆ GetSensorDefinition()

◆ PostPhysTick()

◆ PostprocessDetection()

◆ PreprocessRays()

◆ Set() [1/2]

◆ Set() [2/2]

Member Data Documentation

◆ DropOffAlpha

◆ DropOffBeta

◆ DropOffGenActive

◆ LidarData