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

#include <RayCastSemanticLidar.h>

Inheritance diagram for ARayCastSemanticLidar:

Public Member Functions
	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).

virtual void	SendData (const float DeltaTime)

virtual void	Set (const FActorDescription &Description) override

virtual void	Set (const FLidarDescription &LidarDescription)

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 ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

Protected Types
using	FSemanticDetection = carla::sensor::data::SemanticLidarDetection

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

Protected Member Functions
virtual void	BeginPlay () override

virtual void	ComputeAndSaveDetections (const FTransform &SensorTransform)
	Copies the per-channel detections into the LidarData structure.

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

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

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

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.

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

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
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
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.

Private Attributes
std::vector< std::vector< FSemanticDetection > >	SemanticDetections

FSemanticLidarData	SemanticLidarData

Detailed Description

A ray-cast based Lidar sensor.

Definition at line 28 of file RayCastSemanticLidar.h.

Member Typedef Documentation

◆ FSemanticDetection

using ARayCastSemanticLidar::FSemanticDetection = carla::sensor::data::SemanticLidarDetection

protected

Definition at line 35 of file RayCastSemanticLidar.h.

◆ FSemanticLidarData

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

protected

Definition at line 34 of file RayCastSemanticLidar.h.

Constructor & Destructor Documentation

◆ ARayCastSemanticLidar()

ARayCastSemanticLidar::ARayCastSemanticLidar ( const FObjectInitializer & ObjectInitializer )

Definition at line 36 of file RayCastSemanticLidar.cpp.

Member Function Documentation

◆ BeginPlay()

void ARayCastSemanticLidar::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 42 of file RayCastSemanticLidar.cpp.

◆ CompactAndWriteDetections()

template<typename DetectionT , typename LidarDataT , typename PostprocessT >

static void ARayCastSemanticLidar::CompactAndWriteDetections	(	std::vector< std::vector< DetectionT > > &	Detections,
		std::vector< uint32_t > &	OutPointsPerChannel,
		uint32_t	Channels,
		LidarDataT &	LidarData,
		PostprocessT &&	Postprocess
	)

inlinestaticprotected

Post-processes the detections channel by channel, drops the rejected ones and writes the rest to LidarData.

Runs sequentially in channel and point order, so the random sequence for noise and drop-off is unchanged.

Definition at line 94 of file RayCastSemanticLidar.h.

Referenced by AHSSLidar::ComputeAndSaveDetections(), and ARayCastLidar::ComputeAndSaveDetections().

◆ ComputeAndSaveDetections()

void ARayCastSemanticLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

protectedvirtual

Copies the per-channel detections into the LidarData structure.

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 226 of file RayCastSemanticLidar.cpp.

References FLidarDescription::Channels, Description, PointsPerChannel, carla::sensor::data::SemanticLidarData::ResetMemory(), SemanticDetections, SemanticLidarData, carla::sensor::data::SemanticLidarData::WriteChannelCount(), and carla::sensor::data::SemanticLidarData::WritePointsSync().

Referenced by SimulateLidar().

◆ ComputeRawDetection()

void ARayCastSemanticLidar::ComputeRawDetection	(	const FHitResult &	HitInfo,
		const FTransform &	InverseSensorTransform,
		const FVector &	SensorLocation,
		FSemanticDetection &	Detection
	)		const

protected

Compute all raw detection information.

Definition at line 243 of file RayCastSemanticLidar.cpp.

References carla::sensor::data::SemanticLidarDetection::cos_inc_angle, FActorRegistry::FindCarlaActor(), UCarlaEpisode::GetActorRegistry(), ASensor::GetEpisode(), FCarlaActor::GetPrimaryActorId(), ATagger::GetTagFromString(), ATagger::GetTagOfTaggedComponent(), carla::sensor::data::SemanticLidarDetection::object_idx, carla::sensor::data::SemanticLidarDetection::object_tag, and carla::sensor::data::SemanticLidarDetection::point.

Referenced by WriteDetectionAsync().

◆ CopyDetectionsToPointCloud()

template<typename DetectionT >

static void ARayCastSemanticLidar::CopyDetectionsToPointCloud	(	const std::vector< std::vector< DetectionT > > &	Detections,
		const std::vector< uint32_t > &	InPointsPerChannel,
		TArray< float > &	PointCloud
	)

inlinestaticprotected

Copies the kept detections into a flat x, y, z, intensity array (editor debug point cloud).

Definition at line 126 of file RayCastSemanticLidar.h.

Referenced by AHSSLidar::ComputeAndSaveDetections(), and ARayCastLidar::ComputeAndSaveDetections().

◆ CreateLasers()

void ARayCastSemanticLidar::CreateLasers ( )

protected

Creates a Laser for each channel.

Definition at line 76 of file RayCastSemanticLidar.cpp.

References FLidarDescription::Channels, Description, LaserAngles, FLidarDescription::LowerFovLimit, and FLidarDescription::UpperFovLimit.

Referenced by Set(), AHSSLidar::Set(), and ARayCastLidar::Set().

◆ EndPlay()

void ARayCastSemanticLidar::EndPlay ( EEndPlayReason::Type EndPlayReason )

overrideprotectedvirtual

Definition at line 51 of file RayCastSemanticLidar.cpp.

◆ GetMirrorState()

void ARayCastSemanticLidar::GetMirrorState ( carla::multigpu::SensorState & State ) const

overridevirtual

Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

Override only for sensors whose PostPhysTick runs whether or not anyone listens: the primary's sensor owns the state of a sensor computed by a secondary.

Reimplemented from ASensor.

Definition at line 314 of file RayCastSemanticLidar.cpp.

References carla::sensor::data::SemanticLidarData::GetHorizontalAngle(), URandomEngine::GetState(), ASensor::RandomEngine, SemanticLidarData, and State.

◆ GetSensorDefinition()

FActorDefinition ARayCastSemanticLidar::GetSensorDefinition ( )

static

Definition at line 31 of file RayCastSemanticLidar.cpp.

References UActorBlueprintFunctionLibrary::MakeLidarDefinition().

◆ PreprocessRays()

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

protectedvirtual

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

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 206 of file RayCastSemanticLidar.cpp.

References RayPreprocessCondition.

Referenced by SimulateLidar().

◆ ResetChannelDetections()

template<typename DetectionT >

static void ARayCastSemanticLidar::ResetChannelDetections	(	std::vector< std::vector< DetectionT > > &	Detections,
		uint32_t	Channels,
		uint32_t	MaxPointsPerChannel
	)

inlinestaticprotected

Clears every channel buffer and reserves room for a full scan.

Definition at line 81 of file RayCastSemanticLidar.h.

Referenced by ResetDetections(), AHSSLidar::ResetDetections(), and ARayCastLidar::ResetDetections().

◆ ResetDetections()

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

protectedvirtual

Clear the per-channel detection buffers.

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 216 of file RayCastSemanticLidar.cpp.

References ResetChannelDetections(), and SemanticDetections.

Referenced by SimulateLidar().

◆ SendData()

void ARayCastSemanticLidar::SendData ( const float DeltaTime )

virtual

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 92 of file RayCastSemanticLidar.cpp.

References carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), SemanticLidarData, and SendData().

Referenced by SendData().

◆ Set() [1/2]

void ARayCastSemanticLidar::Set ( const FActorDescription & Description )

overridevirtual

Reimplemented from ASensor.

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 60 of file RayCastSemanticLidar.cpp.

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

Referenced by Set().

◆ Set() [2/2]

void ARayCastSemanticLidar::Set ( const FLidarDescription & LidarDescription )

virtual

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 68 of file RayCastSemanticLidar.cpp.

References FLidarDescription::Channels, CreateLasers(), Description, PointsPerChannel, and SemanticLidarData.

◆ SetMirrorState()

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

overridevirtual

Reimplemented from ASensor.

Definition at line 323 of file RayCastSemanticLidar.cpp.

References ASensor::RandomEngine, SemanticLidarData, carla::sensor::data::SemanticLidarData::SetHorizontalAngle(), URandomEngine::SetState(), and State.

◆ ShootLaser()

bool ARayCastSemanticLidar::ShootLaser	(	const float	VerticalAngle,
		float	HorizontalAngle,
		FHitResult &	HitResult,
		FCollisionQueryParams &	TraceParams,
		const FVector &	LidarBodyLocation,
		const FRotator &	LidarBodyRotation
	)		const

protected

Shoot a laser ray-trace, return whether the laser hit something.

Definition at line 290 of file RayCastSemanticLidar.cpp.

References Description, and FLidarDescription::Range.

Referenced by SimulateLidar(), and AHSSLidar::SimulateLidar().

◆ SimulateLidar()

void ARayCastSemanticLidar::SimulateLidar	(	const float	DeltaTime,
		bool	bLockPhysics = `true`
	)

virtual

◆ WriteDetectionAsync()

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

protectedvirtual

Computes the detection of a hit inside the raycast ParallelFor.

Reimplemented in AHSSLidar, and ARayCastLidar.

Definition at line 220 of file RayCastSemanticLidar.cpp.

References ComputeRawDetection(), DEBUG_ASSERT, and SemanticDetections.

Referenced by SimulateLidar().

Member Data Documentation

◆ Description

◆ LaserAngles

TArray<float> ARayCastSemanticLidar::LaserAngles

protected

Definition at line 152 of file RayCastSemanticLidar.h.

Referenced by CreateLasers(), SimulateLidar(), and AHSSLidar::SimulateLidar().

◆ PointsPerChannel

std::vector<uint32_t> ARayCastSemanticLidar::PointsPerChannel

protected

Definition at line 155 of file RayCastSemanticLidar.h.

Referenced by ComputeAndSaveDetections(), AHSSLidar::ComputeAndSaveDetections(), ARayCastLidar::ComputeAndSaveDetections(), Set(), AHSSLidar::Set(), and ARayCastLidar::Set().

◆ RayPreprocessCondition

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

protected

Definition at line 154 of file RayCastSemanticLidar.h.

Referenced by PreprocessRays(), AHSSLidar::PreprocessRays(), ARayCastLidar::PreprocessRays(), SimulateLidar(), and AHSSLidar::SimulateLidar().

◆ SemanticDetections

std::vector<std::vector<FSemanticDetection> > ARayCastSemanticLidar::SemanticDetections

private

Definition at line 160 of file RayCastSemanticLidar.h.

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

◆ SemanticLidarData

FSemanticLidarData ARayCastSemanticLidar::SemanticLidarData

private

Definition at line 158 of file RayCastSemanticLidar.h.

Referenced by ComputeAndSaveDetections(), GetMirrorState(), SendData(), Set(), SetMirrorState(), and SimulateLidar().

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

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ FSemanticDetection

◆ FSemanticLidarData

Constructor & Destructor Documentation

◆ ARayCastSemanticLidar()

Member Function Documentation

◆ BeginPlay()

◆ CompactAndWriteDetections()

◆ ComputeAndSaveDetections()

◆ ComputeRawDetection()

◆ CopyDetectionsToPointCloud()

◆ CreateLasers()

◆ EndPlay()

◆ GetMirrorState()

◆ GetSensorDefinition()

◆ PreprocessRays()

◆ ResetChannelDetections()

◆ ResetDetections()

◆ SendData()

◆ Set() [1/2]

◆ Set() [2/2]

◆ SetMirrorState()

◆ ShootLaser()

◆ SimulateLidar()

◆ WriteDetectionAsync()

Member Data Documentation

◆ Description

◆ LaserAngles

◆ PointsPerChannel

◆ RayPreprocessCondition

◆ SemanticDetections

◆ SemanticLidarData