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

#include <RayCastSemanticLidar.h>

Inheritance diagram for ARayCastSemanticLidar:

Collaboration diagram for ARayCastSemanticLidar:

Public Member Functions
	ARayCastSemanticLidar (const FObjectInitializer &ObjectInitializer)

virtual void	Set (const FActorDescription &Description) override

virtual void	Set (const FLidarDescription &LidarDescription)

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 ()

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

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

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

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...

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

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

Private Attributes
FSemanticLidarData	SemanticLidarData

Detailed Description

A ray-cast based Lidar sensor.

Definition at line 25 of file RayCastSemanticLidar.h.

Member Typedef Documentation

◆ FSemanticDetection

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

protected

Definition at line 32 of file RayCastSemanticLidar.h.

◆ FSemanticLidarData

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

protected

Definition at line 31 of file RayCastSemanticLidar.h.

Constructor & Destructor Documentation

◆ ARayCastSemanticLidar()

ARayCastSemanticLidar::ARayCastSemanticLidar ( const FObjectInitializer & ObjectInitializer )

Definition at line 30 of file RayCastSemanticLidar.cpp.

Member Function Documentation

◆ ComputeAndSaveDetections()

void ARayCastSemanticLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

protectedvirtual

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

Reimplemented in ARayCastLidar.

Definition at line 187 of file RayCastSemanticLidar.cpp.

References FLidarDescription::Channels, ComputeRawDetection(), Description, PointsPerChannel, RecordedHits, carla::sensor::data::SemanticLidarData::ResetMemory(), SemanticLidarData, carla::sensor::data::SemanticLidarData::WriteChannelCount(), and carla::sensor::data::SemanticLidarData::WritePointSync().

Referenced by SimulateLidar().

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◆ ComputeRawDetection()

void ARayCastSemanticLidar::ComputeRawDetection	(	const FHitResult &	HitInfo,
		const FTransform &	SensorTransf,
		FSemanticDetection &	Detection
	)		const

protected

Compute all raw detection information.

Definition at line 204 of file RayCastSemanticLidar.cpp.

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

Referenced by ComputeAndSaveDetections().

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◆ CreateLasers()

void ARayCastSemanticLidar::CreateLasers ( )

protected

Creates a Laser for each channel.

Definition at line 52 of file RayCastSemanticLidar.cpp.

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

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

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◆ GetSensorDefinition()

FActorDefinition ARayCastSemanticLidar::GetSensorDefinition ( )

static

Definition at line 25 of file RayCastSemanticLidar.cpp.

References UActorBlueprintFunctionLibrary::MakeLidarDefinition().

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◆ PostPhysTick()

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

overrideprotectedvirtual

Reimplemented from ASensor.

Reimplemented in ARayCastLidar.

Definition at line 68 of file RayCastSemanticLidar.cpp.

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

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◆ PreprocessRays()

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

protectedvirtual

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

Reimplemented in ARayCastLidar.

Definition at line 171 of file RayCastSemanticLidar.cpp.

References RayPreprocessCondition.

Referenced by SimulateLidar().

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◆ ResetRecordedHits()

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

protected

Clear the recorded data structure.

Definition at line 162 of file RayCastSemanticLidar.cpp.

References RecordedHits.

Referenced by SimulateLidar().

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◆ Set() [1/2]

void ARayCastSemanticLidar::Set ( const FActorDescription & Description )

overridevirtual

Reimplemented from ASensor.

Reimplemented in ARayCastLidar.

Definition at line 36 of file RayCastSemanticLidar.cpp.

References UActorBlueprintFunctionLibrary::SetLidar().

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◆ Set() [2/2]

void ARayCastSemanticLidar::Set ( const FLidarDescription & LidarDescription )

virtual

Reimplemented in ARayCastLidar.

Definition at line 44 of file RayCastSemanticLidar.cpp.

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

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◆ ShootLaser()

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

protected

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

Definition at line 231 of file RayCastSemanticLidar.cpp.

References Description, and FLidarDescription::Range.

Referenced by SimulateLidar().

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◆ SimulateLidar()

void ARayCastSemanticLidar::SimulateLidar ( const float DeltaTime )

protected

Updates LidarMeasurement with the points read in DeltaTime.

Definition at line 100 of file RayCastSemanticLidar.cpp.

References FLidarDescription::Channels, ComputeAndSaveDetections(), Description, carla::sensor::data::SemanticLidarData::GetHorizontalAngle(), FLidarDescription::HorizontalFov, LaserAngles, FLidarDescription::PointsPerSecond, PreprocessRays(), RayPreprocessCondition, ResetRecordedHits(), FLidarDescription::RotationFrequency, SemanticLidarData, carla::sensor::data::SemanticLidarData::SetHorizontalAngle(), ShootLaser(), carla::geom::Math::ToDegrees(), carla::geom::Math::ToRadians(), and WritePointAsync().

Referenced by ARayCastLidar::PostPhysTick(), and PostPhysTick().

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◆ WritePointAsync()

void ARayCastSemanticLidar::WritePointAsync	(	uint32_t	Channel,
		FHitResult &	Detection
	)

protected

Saving the hits the raycast returns per channel.

Definition at line 181 of file RayCastSemanticLidar.cpp.

References DEBUG_ASSERT, and RecordedHits.

Referenced by SimulateLidar().

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Member Data Documentation

◆ Description

FLidarDescription ARayCastSemanticLidar::Description

protected

Definition at line 71 of file RayCastSemanticLidar.h.

Referenced by ARayCastLidar::ARayCastLidar(), ARayCastLidar::ComputeAndSaveDetections(), ComputeAndSaveDetections(), ARayCastLidar::ComputeDetection(), ARayCastLidar::ComputeIntensity(), CreateLasers(), ARayCastLidar::PostprocessDetection(), ARayCastLidar::PreprocessRays(), ARayCastLidar::Set(), Set(), ShootLaser(), and SimulateLidar().

◆ LaserAngles

TArray<float> ARayCastSemanticLidar::LaserAngles

protected

Definition at line 73 of file RayCastSemanticLidar.h.

Referenced by CreateLasers(), and SimulateLidar().

◆ PointsPerChannel

std::vector<uint32_t> ARayCastSemanticLidar::PointsPerChannel

protected

Definition at line 77 of file RayCastSemanticLidar.h.

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

◆ RayPreprocessCondition

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

protected

Definition at line 76 of file RayCastSemanticLidar.h.

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

◆ RecordedHits

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

protected

Definition at line 75 of file RayCastSemanticLidar.h.

Referenced by ARayCastLidar::ComputeAndSaveDetections(), ComputeAndSaveDetections(), ResetRecordedHits(), and WritePointAsync().

◆ SemanticLidarData

FSemanticLidarData ARayCastSemanticLidar::SemanticLidarData

private

Definition at line 80 of file RayCastSemanticLidar.h.

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

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ FSemanticDetection

◆ FSemanticLidarData

Constructor & Destructor Documentation

◆ ARayCastSemanticLidar()

Member Function Documentation

◆ ComputeAndSaveDetections()

◆ ComputeRawDetection()

◆ CreateLasers()

◆ GetSensorDefinition()

◆ PostPhysTick()

◆ PreprocessRays()

◆ ResetRecordedHits()

◆ Set() [1/2]

◆ Set() [2/2]

◆ ShootLaser()

◆ SimulateLidar()

◆ WritePointAsync()

Member Data Documentation

◆ Description

◆ LaserAngles

◆ PointsPerChannel

◆ RayPreprocessCondition

◆ RecordedHits

◆ SemanticLidarData