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Enable Radar and RayCastSemanticLidar code.

This commit is contained in:
Marcel Pi 2024-02-21 14:42:24 +01:00
parent 036b8a64f7
commit b37aa6f031
3 changed files with 18 additions and 26 deletions
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29
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
View File

@ -10,8 +10,8 @@
#include "Kismet/KismetMathLibrary.h"
#include "Runtime/Core/Public/Async/ParallelFor.h"
#include <compiler/disable-ue4-macros.h>
#include "carla/geom/Math.h"
#include "carla/ros2/ROS2.h"
#include <carla/geom/Math.h>
#include <carla/ros2/ROS2.h>
#include <compiler/enable-ue4-macros.h>
FActorDefinition ARadar::GetSensorDefinition()
@ -135,9 +135,6 @@ void ARadar::SendLineTraces(float DeltaTime)
Rays[i].Hitted = false;
}
#if 0 // @CARLAUE5
FCriticalSection Mutex;
GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
{
TRACE_CPUPROFILER_EVENT_SCOPE(ParallelFor);
ParallelFor(NumPoints, [&](int32 idx) {
@ -155,7 +152,8 @@ void ARadar::SendLineTraces(float DeltaTime)
MaxRy * Radius * Sin
});
const bool Hitted = GetWorld()->ParallelLineTraceSingleByChannel(
// @CARLAUE5: WE CAN PROBABLY IMPROVE THE PERFORMANCE OF THIS:
const bool Hitted = GetWorld()->LineTraceSingleByChannel(
OutHit,
RadarLocation,
EndLocation,
@ -181,20 +179,21 @@ void ARadar::SendLineTraces(float DeltaTime)
}
});
}
GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
// Write the detections in the output structure
for (auto& ray : Rays) {
if (ray.Hitted) {
RadarData.WriteDetection({
ray.RelativeVelocity,
ray.AzimuthAndElevation.X,
ray.AzimuthAndElevation.Y,
ray.Distance
for (auto& ray : Rays)
{
if (ray.Hitted)
{
RadarData.WriteDetection(
{
(float)ray.RelativeVelocity,
(float)ray.AzimuthAndElevation.X,
(float)ray.AzimuthAndElevation.Y,
(float)ray.Distance
});
}
}
#endif
}
float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation)

9
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
View File

@ -125,8 +125,6 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
ResetRecordedHits(ChannelCount, PointsToScanWithOneLaser);
PreprocessRays(ChannelCount, PointsToScanWithOneLaser);
#if 0 // @CARLAUE5
GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
{
TRACE_CPUPROFILER_EVENT_SCOPE(ParallelFor);
ParallelFor(ChannelCount, [&](int32 idxChannel) {
@ -149,8 +147,6 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
};
});
}
GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
#endif
FTransform ActorTransf = GetTransform();
ComputeAndSaveDetections(ActorTransf);
@ -248,8 +244,8 @@ bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float Ho
const auto Range = Description.Range;
FVector EndTrace = Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
#if 0 // @CARLAUE5
GetWorld()->ParallelLineTraceSingleByChannel(
// @CARLAUE5: WE CAN PROBABLY IMPROVE THIS
GetWorld()->LineTraceSingleByChannel(
HitInfo,
LidarBodyLoc,
EndTrace,
@ -257,7 +253,6 @@ bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float Ho
TraceParams,
FCollisionResponseParams::DefaultResponseParam
);
#endif
if (HitInfo.bBlockingHit) {
HitResult = HitInfo;

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
View File

@ -16,6 +16,7 @@
#include "Engine/LocalPlayer.h"
#include "Engine/PostProcessVolume.h"
#include "Engine/StaticMesh.h"
#include "Engine/GameViewportClient.h"
#include "GameFramework/HUD.h"
#include "InstancedFoliageActor.h"
#include "Kismet/GameplayStatics.h"
@ -135,10 +136,7 @@ void UCarlaSettingsDelegate::ApplyQualityLevelPreRestart()
{
ULocalPlayer *player = playercontroller->GetLocalPlayer();
if (player)
{
// @CARLAUE5
// player->ViewportClient->bDisableWorldRendering = CarlaSettings->bDisableRendering;
}
player->ViewportClient->bDisableWorldRendering = CarlaSettings->bDisableRendering;
// if we already have a hud class:
AHUD *hud = playercontroller->GetHUD();
if (hud)