Add horizontal fov property to lidar description

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp

@@ -849,6 +849,11 @@ void UActorBlueprintFunctionLibrary::MakeLidarDefinition(
   LowerFOV.Id = TEXT("lower_fov");
   LowerFOV.Type = EActorAttributeType::Float;
   LowerFOV.RecommendedValues = { TEXT("-30.0") };
+  // Horizontal FOV.
+  FActorVariation HorizontalFOV;
+  HorizontalFOV.Id = TEXT("horizontal_fov");
+  HorizontalFOV.Type = EActorAttributeType::Float;
+  HorizontalFOV.RecommendedValues = { TEXT("360.0") };
   // Atmospheric Attenuation Rate.
   FActorVariation AtmospAttenRate;
   AtmospAttenRate.Id = TEXT("atmosphere_attenuation_rate");
@@ -894,7 +899,9 @@ void UActorBlueprintFunctionLibrary::MakeLidarDefinition(
       DropOffGenRate,
       DropOffIntensityLimit,
       DropOffAtZeroIntensity,
-      StdDevLidar});
+      StdDevLidar,
+      HorizontalFOV
+    });
   }
   else if (Id == "ray_cast_semantic") {
     Definition.Variations.Append({
@@ -903,7 +910,8 @@ void UActorBlueprintFunctionLibrary::MakeLidarDefinition(
       PointsPerSecond,
       Frequency,
       UpperFOV,
-      LowerFOV});
+      LowerFOV,
+      HorizontalFOV});
   }
   else {
     DEBUG_ASSERT(false);
@@ -1516,6 +1524,8 @@ void UActorBlueprintFunctionLibrary::SetLidar(
       RetrieveActorAttributeToFloat("upper_fov", Description.Variations, Lidar.UpperFovLimit);
   Lidar.LowerFovLimit =
       RetrieveActorAttributeToFloat("lower_fov", Description.Variations, Lidar.LowerFovLimit);
+  Lidar.HorizontalFov =
+      RetrieveActorAttributeToFloat("horizontal_fov", Description.Variations, Lidar.HorizontalFov);
   Lidar.AtmospAttenRate =
       RetrieveActorAttributeToFloat("atmosphere_attenuation_rate", Description.Variations, Lidar.AtmospAttenRate);
   Lidar.RandomSeed =

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h

@@ -38,6 +38,10 @@ struct CARLA_API FLidarDescription
   /// horizontal line.
   UPROPERTY(EditAnywhere)
   float LowerFovLimit = -30.0f;
+  
+  /// Horizontal field of view
+  UPROPERTY(EditAnywhere)
+  float HorizontalFov = 360.0f;
 
   /// Attenuation Rate in the atmosphere in m^-1.
   UPROPERTY(EditAnywhere)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp

@@ -95,7 +95,8 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
 
   const float CurrentHorizontalAngle = carla::geom::Math::ToDegrees(
       SemanticLidarData.GetHorizontalAngle());
-  const float AngleDistanceOfTick = Description.RotationFrequency * 360.0f * DeltaTime;
+  const float AngleDistanceOfTick = Description.RotationFrequency * Description.HorizontalFov 
+      * DeltaTime;
   const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
   ResetRecordedHits(ChannelCount, PointsToScanWithOneLaser);
@@ -106,7 +107,9 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
     for (auto idxPtsOneLaser = 0u; idxPtsOneLaser < PointsToScanWithOneLaser; idxPtsOneLaser++) {
       FHitResult HitResult;
       const float VertAngle = LaserAngles[idxChannel];
-      const float HorizAngle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * idxPtsOneLaser;
+      const float HorizAngle = std::fmod(std::fmod(CurrentHorizontalAngle 
+          + AngleDistanceOfLaserMeasure * idxPtsOneLaser, Description.HorizontalFov) 
+          - Description.HorizontalFov / 2, 360.0f);
       const bool PreprocessResult = RayPreprocessCondition[idxChannel][idxPtsOneLaser];
 
       if (PreprocessResult && ShootLaser(VertAngle, HorizAngle, HitResult)) {
@@ -120,7 +123,7 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
   ComputeAndSaveDetections(ActorTransf);
 
   const float HorizontalAngle = carla::geom::Math::ToRadians(
-      std::fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f));
+      std::fmod(CurrentHorizontalAngle + AngleDistanceOfTick, Description.HorizontalFov));
   SemanticLidarData.SetHorizontalAngle(HorizontalAngle);
 }