A ray-cast based Lidar sensor. 更多...

#include <RayCastLidar.h>

类 ARayCastLidar 继承关系图:

ARayCastLidar 的协作图:

Public 成员函数
	ARayCastLidar (const FObjectInitializer &ObjectInitializer)

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

virtual void	Set (const FActorDescription &Description) override

virtual void	Set (const FLidarDescription &LidarDescription) override

Public 成员函数继承自 ARayCastSemanticLidar
	ARayCastSemanticLidar (const FObjectInitializer &ObjectInitializer)

Public 成员函数继承自 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.

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.

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

静态 Public 成员函数
static FActorDefinition	GetSensorDefinition ()

静态 Public 成员函数继承自 ARayCastSemanticLidar
static FActorDefinition	GetSensorDefinition ()

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

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

Private 成员函数
void	ComputeAndSaveDetections (const FTransform &SensorTransform) override
	This method uses all the saved FHitResults, compute the RawDetections and then send it to the LidarData structure.

FDetection	ComputeDetection (const FHitResult &HitInfo, const FTransform &SensorTransf) 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.

Private 属性
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

额外继承的成员函数
Protected 类型继承自 ARayCastSemanticLidar
using	FSemanticDetection = carla::sensor::data::SemanticLidarDetection

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

Protected 成员函数继承自 ARayCastSemanticLidar
void	ComputeRawDetection (const FHitResult &HitInfo, const FTransform &SensorTransf, FSemanticDetection &Detection) const
	Compute all raw detection information

void	CreateLasers ()
	Creates a Laser for each channel.

void	ResetRecordedHits (uint32_t Channels, uint32_t MaxPointsPerChannel)
	Clear the recorded data structure

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

void	SimulateLidar (const float DeltaTime)
	Updates LidarMeasurement with the points read in DeltaTime.

void	WritePointAsync (uint32_t Channel, FHitResult &Detection)
	Saving the hits the raycast returns per channel

Protected 成员函数继承自 ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

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

void	PostActorCreated () override

Protected 属性继承自 ARayCastSemanticLidar
FLidarDescription	Description

TArray< float >	LaserAngles

std::vector< uint32_t >	PointsPerChannel

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

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

Protected 属性继承自 ASensor
bool	bIsActive = false

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

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

详细描述

A ray-cast based Lidar sensor.

在文件 RayCastLidar.h 第 24 行定义.

成员类型定义说明

◆ FDetection

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

private

在文件 RayCastLidar.h 第 29 行定义.

◆ FLidarData

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

private

在文件 RayCastLidar.h 第 28 行定义.

构造及析构函数说明

◆ ARayCastLidar()

ARayCastLidar::ARayCastLidar ( const FObjectInitializer & ObjectInitializer )

在文件 RayCastLidar.cpp 第 30 行定义.

引用了 ARayCastSemanticLidar::Description, ASensor::RandomEngine, FLidarDescription::RandomSeed , 以及 ASensor::SetSeed().

函数调用图:

成员函数说明

◆ ComputeAndSaveDetections()

void ARayCastLidar::ComputeAndSaveDetections ( const FTransform & SensorTransform )

overrideprivatevirtual

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

重载 ARayCastSemanticLidar .

在文件 RayCastLidar.cpp 第 149 行定义.

引用了 FLidarDescription::Channels, ComputeDetection(), ARayCastSemanticLidar::Description, LidarData, ARayCastSemanticLidar::PointsPerChannel, PostprocessDetection(), ARayCastSemanticLidar::RecordedHits, carla::sensor::data::LidarData::ResetMemory(), carla::sensor::data::SemanticLidarData::WriteChannelCount() , 以及 carla::sensor::data::LidarData::WritePointSync().

函数调用图:

◆ ComputeDetection()

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

private

在文件 RayCastLidar.cpp 第 106 行定义.

引用了 FLidarDescription::AtmospAttenRate, ARayCastSemanticLidar::Description, carla::sensor::data::LidarDetection::intensity, carla::geom::Vector3D::Length() , 以及 carla::sensor::data::LidarDetection::point.

被这些函数引用 ComputeAndSaveDetections().

函数调用图:

这是这个函数的调用关系图:

◆ ComputeIntensity()

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

private

Compute the received intensity of the point

在文件 RayCastLidar.cpp 第 93 行定义.

引用了 FLidarDescription::AtmospAttenRate, ARayCastSemanticLidar::Description, carla::geom::Vector3D::Length() , 以及 carla::sensor::data::SemanticLidarDetection::point.

函数调用图:

◆ GetSensorDefinition()

FActorDefinition ARayCastLidar::GetSensorDefinition ( )

static

在文件 RayCastLidar.cpp 第 24 行定义.

引用了 UActorBlueprintFunctionLibrary::MakeLidarDefinition().

函数调用图:

◆ PostPhysTick()

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

virtual

重载 ARayCastSemanticLidar .

在文件 RayCastLidar.cpp 第 58 行定义.

引用了 carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), LidarData, PostPhysTick() , 以及 ARayCastSemanticLidar::SimulateLidar().

被这些函数引用 PostPhysTick().

函数调用图:

这是这个函数的调用关系图:

◆ PostprocessDetection()

bool ARayCastLidar::PostprocessDetection ( FDetection & Detection ) const

private

在文件 RayCastLidar.cpp 第 134 行定义.

引用了 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 , 以及 ASensor::RandomEngine.

被这些函数引用 ComputeAndSaveDetections().

函数调用图:

这是这个函数的调用关系图:

◆ PreprocessRays()

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

overrideprivatevirtual

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

重载 ARayCastSemanticLidar .

在文件 RayCastLidar.cpp 第 124 行定义.

引用了 ARayCastSemanticLidar::Description, DropOffGenActive, FLidarDescription::DropOffGenRate, URandomEngine::GetUniformFloat(), ASensor::RandomEngine , 以及 ARayCastSemanticLidar::RayPreprocessCondition.

函数调用图:

◆ Set() [1/2]

void ARayCastLidar::Set ( const FActorDescription & Description )

overridevirtual

重载 ARayCastSemanticLidar .

在文件 RayCastLidar.cpp 第 37 行定义.

引用了 ASensor::Set(), Set() , 以及 UActorBlueprintFunctionLibrary::SetLidar().

被这些函数引用 Set().

函数调用图:

这是这个函数的调用关系图:

◆ Set() [2/2]

void ARayCastLidar::Set ( const FLidarDescription & LidarDescription )

overridevirtual

重载 ARayCastSemanticLidar .

在文件 RayCastLidar.cpp 第 45 行定义.

引用了 FLidarDescription::Channels, ARayCastSemanticLidar::CreateLasers(), ARayCastSemanticLidar::Description, DropOffAlpha, FLidarDescription::DropOffAtZeroIntensity, DropOffBeta, DropOffGenActive, FLidarDescription::DropOffGenRate, FLidarDescription::DropOffIntensityLimit, LidarData , 以及 ARayCastSemanticLidar::PointsPerChannel.

函数调用图:

类成员变量说明

◆ 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)

在文件 RayCastLidar.h 第 60 行定义.

被这些函数引用 PostprocessDetection() , 以及 Set().

◆ DropOffBeta

float ARayCastLidar::DropOffBeta

private

在文件 RayCastLidar.h 第 61 行定义.

被这些函数引用 PostprocessDetection() , 以及 Set().

◆ DropOffGenActive

bool ARayCastLidar::DropOffGenActive

private

Enable/Disable general dropoff of lidar points

在文件 RayCastLidar.h 第 53 行定义.

被这些函数引用 PreprocessRays() , 以及 Set().

◆ LidarData

FLidarData ARayCastLidar::LidarData

private

在文件 RayCastLidar.h 第 50 行定义.

被这些函数引用 ComputeAndSaveDetections(), PostPhysTick() , 以及 Set().

该类的文档由以下文件生成:

Public 成员函数

静态 Public 成员函数

Private 类型

Private 成员函数

Private 属性

额外继承的成员函数

详细描述

成员类型定义说明

◆ FDetection

◆ FLidarData

构造及析构函数说明

◆ ARayCastLidar()

成员函数说明

◆ ComputeAndSaveDetections()

◆ ComputeDetection()

◆ ComputeIntensity()

◆ GetSensorDefinition()

◆ PostPhysTick()

◆ PostprocessDetection()

◆ PreprocessRays()

◆ Set() [1/2]

◆ Set() [2/2]

类成员变量说明

◆ DropOffAlpha

◆ DropOffBeta

◆ DropOffGenActive

◆ LidarData