A fixed-sweep ray-cast Lidar approximating a Hybrid Solid-State LiDAR (e.g. More...

#include <HSSLidar.h>

Inheritance diagram for AHSSLidar:

Public Member Functions
	AHSSLidar (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

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

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

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: alpha*Intensity + beta where alpha = dropoff_zero_intensity / dropoff_limit and beta = 1 - dropoff_zero_intensity.

float	DropOffBeta

bool	DropOffGenActive
	Enable/Disable general dropoff of lidar points.

FLidarData	LidarData

TArray< float >	PointCloudLidarData
	WITH_EDITOR-only mirror of the point cloud, used by the debug save path.

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 fixed-sweep ray-cast Lidar approximating a Hybrid Solid-State LiDAR (e.g.

Hesai AT128). Unlike ARayCastLidar this sensor does not rotate; each tick it casts a configurable horizontal field of view at a fixed angular resolution centred on the sensor's forward axis.

Definition at line 27 of file HSSLidar.h.

Member Typedef Documentation

◆ FDetection

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

private

Definition at line 32 of file HSSLidar.h.

◆ FLidarData

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

private

Definition at line 31 of file HSSLidar.h.

Constructor & Destructor Documentation

◆ AHSSLidar()

AHSSLidar::AHSSLidar ( const FObjectInitializer & ObjectInitializer )

Definition at line 35 of file HSSLidar.cpp.

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

Member Function Documentation

◆ ComputeAndSaveDetections()

void AHSSLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

overrideprivatevirtual

Copies the per-channel detections into the LidarData structure.

Reimplemented from ARayCastSemanticLidar.

Definition at line 166 of file HSSLidar.cpp.

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

Referenced by SimulateLidar().

◆ ComputeDetection()

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

private

Definition at line 104 of file HSSLidar.cpp.

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

Referenced by WriteDetectionAsync().

◆ GetSensorDefinition()

FActorDefinition AHSSLidar::GetSensorDefinition ( )

static

Definition at line 30 of file HSSLidar.cpp.

References UActorBlueprintFunctionLibrary::MakeLidarDefinition().

◆ GetTestPointCloud()

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

inline

Definition at line 43 of file HSSLidar.h.

◆ PostprocessDetection()

bool AHSSLidar::PostprocessDetection ( FDetection & Detection ) const

private

Definition at line 140 of file HSSLidar.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 AHSSLidar::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 123 of file HSSLidar.cpp.

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

Referenced by SimulateLidar().

◆ ResetDetections()

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

overrideprivatevirtual

Clear the per-channel detection buffers.

Reimplemented from ARayCastSemanticLidar.

Definition at line 155 of file HSSLidar.cpp.

References Detections, and ARayCastSemanticLidar::ResetChannelDetections().

Referenced by SimulateLidar().

◆ SendData()

void AHSSLidar::SendData ( const float DeltaTime )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 73 of file HSSLidar.cpp.

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

Referenced by SendData().

◆ Set() [1/2]

void AHSSLidar::Set ( const FActorDescription & Description )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 42 of file HSSLidar.cpp.

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

Referenced by Set().

◆ Set() [2/2]

void AHSSLidar::Set ( const FLidarDescription & LidarDescription )

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 50 of file HSSLidar.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().

◆ SimulateLidar()

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

overridevirtual

Reimplemented from ARayCastSemanticLidar.

Definition at line 191 of file HSSLidar.cpp.

References FLidarDescription::Channels, ComputeAndSaveDetections(), ARayCastSemanticLidar::Description, FLidarDescription::HorizontalFov, FLidarDescription::HorizontalResolution, ARayCastSemanticLidar::LaserAngles, PreprocessRays(), ARayCastSemanticLidar::RayPreprocessCondition, ResetDetections(), ARayCastSemanticLidar::ShootLaser(), SimulateLidar(), SnapToStep(), and WriteDetectionAsync().

Referenced by SimulateLidar().

◆ WriteDetectionAsync()

void AHSSLidar::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 160 of file HSSLidar.cpp.

References ComputeDetection(), DEBUG_ASSERT, and Detections.

Referenced by SimulateLidar().

Member Data Documentation

◆ Detections

std::vector<std::vector<FDetection> > AHSSLidar::Detections

private

Definition at line 59 of file HSSLidar.h.

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

◆ DropOffAlpha

float AHSSLidar::DropOffAlpha

private

Slope for the intensity dropoff of lidar points: alpha*Intensity + beta where alpha = dropoff_zero_intensity / dropoff_limit and beta = 1 - dropoff_zero_intensity.

Definition at line 67 of file HSSLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffBeta

float AHSSLidar::DropOffBeta

private

Definition at line 68 of file HSSLidar.h.

Referenced by PostprocessDetection(), and Set().

◆ DropOffGenActive

bool AHSSLidar::DropOffGenActive

private

Enable/Disable general dropoff of lidar points.

Definition at line 62 of file HSSLidar.h.

Referenced by PreprocessRays(), and Set().

◆ LidarData

FLidarData AHSSLidar::LidarData

private

Definition at line 57 of file HSSLidar.h.

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

◆ PointCloudLidarData

TArray<float> AHSSLidar::PointCloudLidarData

private

WITH_EDITOR-only mirror of the point cloud, used by the debug save path.

Definition at line 71 of file HSSLidar.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

◆ AHSSLidar()

Member Function Documentation

◆ ComputeAndSaveDetections()

◆ ComputeDetection()

◆ GetSensorDefinition()

◆ GetTestPointCloud()

◆ PostprocessDetection()

◆ PreprocessRays()

◆ ResetDetections()

◆ SendData()

◆ Set() [1/2]

◆ Set() [2/2]

◆ SimulateLidar()

◆ WriteDetectionAsync()

Member Data Documentation

◆ Detections

◆ DropOffAlpha

◆ DropOffBeta

◆ DropOffGenActive

◆ LidarData

◆ PointCloudLidarData