RayCastLidar.h

浏览该文件的文档.

// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
 
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Sensor/LidarDescription.h"
#include "Carla/Sensor/Sensor.h"
#include "Carla/Sensor/RayCastSemanticLidar.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 
#include <compiler/disable-ue4-macros.h>
#include <carla/sensor/data/LidarData.h>
#include <compiler/enable-ue4-macros.h>
 
#include "RayCastLidar.generated.h"
 
/// 一个基于光线投射的激光雷达传感器类。
UCLASS()
class CARLA_API ARayCastLidar : public ARayCastSemanticLidar
{
  GENERATED_BODY()
 
  using FLidarData = carla::sensor::data::LidarData;
  using FDetection = carla::sensor::data::LidarDetection;
 
public:
  static FActorDefinition GetSensorDefinition();
 
  ARayCastLidar(const FObjectInitializer &ObjectInitializer);
  virtual void Set(const FActorDescription &Description) override;
  virtual void Set(const FLidarDescription &LidarDescription) override;
 
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime);
 
private:
  /// 计算激光点的接收强度
  float ComputeIntensity(const FSemanticDetection& RawDetection) const;
  FDetection ComputeDetection(const FHitResult& HitInfo, const FTransform& SensorTransf) const;
 
  void PreprocessRays(uint32_t Channels, uint32_t MaxPointsPerChannel) override;
  bool PostprocessDetection(FDetection& Detection) const;
 
  void ComputeAndSaveDetections(const FTransform& SensorTransform) override;
 
  FLidarData LidarData;
 
  /// 启用/禁用激光雷达点的掉落效果
  bool DropOffGenActive;
 
  /// 激光点强度的衰减斜率，通过衰减限制和零强度衰减来计算
  /// 点的强度保持概率为 alpha * 强度 + beta，其中
  ///  alpha = (1 - dropoff_zero_intensity) / droppoff_limit
  /// beta = (1 - dropoff_zero_intensity)
  float DropOffAlpha;
  float DropOffBeta;
};