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

#include <RayCastLidar.h>

Inheritance diagram for ARayCastLidar:

Public Member Functions
	ARayCastLidar (const FObjectInitializer &ObjectInitializer)

const TArray< float > &	GetTestPointCloud () const

virtual void	SendData (const float DeltaTime) override

virtual void	Set (const FActorDescription &Description) override

virtual void	Set (const FLidarDescription &LidarDescription) override

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

void	GetMirrorState (carla::multigpu::SensorState &State) const override
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

void	SetMirrorState (const carla::multigpu::SensorState &State) override

virtual void	SimulateLidar (const float DeltaTime, bool bLockPhysics=true)

Public Member Functions inherited from ASensor
bool	AreClientsListening ()

	ASensor (const FObjectInitializer &ObjectInitializer)

void	ClearReadyToTick ()

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

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

float	GetReadyToTickDeltaSeconds () const

int32	GetSeed () const

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

bool	IsReadyToTick () const

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

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

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

virtual void	PrePhysTick (float DeltaSeconds)

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

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.

void	SetSavingDataToDisk (bool bSavingData)

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 ()

Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

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

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

Private Member Functions
void	ComputeAndSaveDetections (const FTransform &SensorTransform) override
	Copies the per-channel detections into the LidarData structure.

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

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

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.

void	ResetDetections (uint32_t Channels, uint32_t MaxPointsPerChannel) override
	Clear the per-channel detection buffers.

void	WriteDetectionAsync (uint32_t Channel, const FHitResult &HitInfo, const FTransform &InverseSensorTransform, const FVector &SensorLocation) override
	Computes the detection of a hit inside the raycast ParallelFor.

Private Attributes
std::vector< std::vector< FDetection > >	Detections

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)

float	DropOffBeta

bool	DropOffGenActive
	Enable/Disable general dropoff of lidar points.

FLidarData	LidarData

TArray< float >	PointCloudLidarData

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
virtual void	BeginPlay () override

void	ComputeRawDetection (const FHitResult &HitInfo, const FTransform &InverseSensorTransform, const FVector &SensorLocation, FSemanticDetection &Detection) const
	Compute all raw detection information.

void	CreateLasers ()
	Creates a Laser for each channel.

virtual void	EndPlay (EEndPlayReason::Type EndPlayReason) override

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

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

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

void	PostActorCreated () override

Static Protected Member Functions inherited from ARayCastSemanticLidar
template<typename DetectionT , typename LidarDataT , typename PostprocessT >
static void	CompactAndWriteDetections (std::vector< std::vector< DetectionT > > &Detections, std::vector< uint32_t > &OutPointsPerChannel, uint32_t Channels, LidarDataT &LidarData, PostprocessT &&Postprocess)
	Post-processes the detections channel by channel, drops the rejected ones and writes the rest to LidarData.

template<typename DetectionT >
static void	CopyDetectionsToPointCloud (const std::vector< std::vector< DetectionT > > &Detections, const std::vector< uint32_t > &InPointsPerChannel, TArray< float > &PointCloud)
	Copies the kept detections into a flat x, y, z, intensity array (editor debug point cloud).

template<typename DetectionT >
static void	ResetChannelDetections (std::vector< std::vector< DetectionT > > &Detections, uint32_t Channels, uint32_t MaxPointsPerChannel)
	Clears every channel buffer and reserves room for a full scan.

Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)

Protected Attributes inherited from ARayCastSemanticLidar
FLidarDescription	Description

TArray< float >	LaserAngles

std::vector< uint32_t >	PointsPerChannel

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

Protected Attributes inherited from ASensor
bool	bIsActive = false

bool	bSavingDataToDisk = false

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

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

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 31 of file RayCastLidar.cpp.

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

Member Function Documentation

◆ ComputeAndSaveDetections()

void ARayCastLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

overrideprivatevirtual

Copies the per-channel detections into the LidarData structure.

Reimplemented from ARayCastSemanticLidar.

Definition at line 167 of file RayCastLidar.cpp.

References ASensor::bSavingDataToDisk, FLidarDescription::Channels, ARayCastSemanticLidar::CompactAndWriteDetections(), ARayCastSemanticLidar::CopyDetectionsToPointCloud(), ARayCastSemanticLidar::Description, Detections, LidarData, PointCloudLidarData, and ARayCastSemanticLidar::PointsPerChannel.

◆ ComputeDetection()

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

private

Definition at line 109 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 WriteDetectionAsync().

◆ ComputeIntensity()

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

private

Compute the received intensity of the point.

Definition at line 96 of file RayCastLidar.cpp.

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

◆ GetSensorDefinition()

FActorDefinition ARayCastLidar::GetSensorDefinition ( )

static

Definition at line 25 of file RayCastLidar.cpp.

References UActorBlueprintFunctionLibrary::MakeLidarDefinition().

◆ GetTestPointCloud()

const TArray< float > & ARayCastLidar::GetTestPointCloud ( ) const

inline

Definition at line 40 of file RayCastLidar.h.

◆ PostprocessDetection()

bool ARayCastLidar::PostprocessDetection ( FDetection & Detection ) const

private

Definition at line 142 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.

◆ 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 127 of file RayCastLidar.cpp.

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

◆ ResetDetections()

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

overrideprivatevirtual

Clear the per-channel detection buffers.

Reimplemented from ARayCastSemanticLidar.

Definition at line 157 of file RayCastLidar.cpp.

References Detections, and ARayCastSemanticLidar::ResetChannelDetections().

◆ SendData()

void ARayCastLidar::SendData ( const float DeltaTime )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 60 of file RayCastLidar.cpp.

References FLidarDescription::Channels, ARayCastSemanticLidar::Description, carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), LidarData, FLidarDescription::LowerFovLimit, SendData(), and FLidarDescription::UpperFovLimit.

Referenced by SendData().

◆ Set() [1/2]

void ARayCastLidar::Set ( const FActorDescription & Description )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 38 of file RayCastLidar.cpp.

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

Referenced by Set().

◆ Set() [2/2]

void ARayCastLidar::Set ( const FLidarDescription & LidarDescription )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 46 of file RayCastLidar.cpp.

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

◆ WriteDetectionAsync()

void ARayCastLidar::WriteDetectionAsync	(	uint32_t	Channel,
		const FHitResult &	HitInfo,
		const FTransform &	InverseSensorTransform,
		const FVector &	SensorLocation
	)

overrideprivatevirtual

Computes the detection of a hit inside the raycast ParallelFor.

Reimplemented from ARayCastSemanticLidar.

Definition at line 162 of file RayCastLidar.cpp.

References ComputeDetection(), DEBUG_ASSERT, and Detections.

Member Data Documentation

◆ Detections

std::vector<std::vector<FDetection> > ARayCastLidar::Detections

private

Definition at line 56 of file RayCastLidar.h.

Referenced by ComputeAndSaveDetections(), ResetDetections(), and WriteDetectionAsync().

◆ 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 66 of file RayCastLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffBeta

float ARayCastLidar::DropOffBeta

private

Definition at line 67 of file RayCastLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffGenActive

bool ARayCastLidar::DropOffGenActive

private

Enable/Disable general dropoff of lidar points.

Definition at line 59 of file RayCastLidar.h.

Referenced by PreprocessRays(), and Set().

◆ LidarData

FLidarData ARayCastLidar::LidarData

private

Definition at line 54 of file RayCastLidar.h.

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

◆ PointCloudLidarData

TArray<float> ARayCastLidar::PointCloudLidarData

private

Definition at line 70 of file RayCastLidar.h.

Referenced by ComputeAndSaveDetections().

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()

◆ GetTestPointCloud()

◆ PostprocessDetection()

◆ PreprocessRays()

◆ ResetDetections()

◆ SendData()

◆ Set() [1/2]

◆ Set() [2/2]

◆ WriteDetectionAsync()

Member Data Documentation

◆ Detections

◆ DropOffAlpha

◆ DropOffBeta

◆ DropOffGenActive

◆ LidarData

◆ PointCloudLidarData