Merge pull request #2951 from carla-simulator/dsantoso/lidar-impr

Raycast parallelization

CHANGELOG.md

@@ -9,12 +9,14 @@
   * Added PythonAPI command to set multiple car light states at once
   * Added PythonAPI `carla.world.get_vehicles_light_states` to get all the car light states at once
   * OpenDRIVE ingestion bugfixes
+  * Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
   * Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
   * Added support for additional TraCI clients in Sumo co-simulation
   * Added API functions `get_right_vector` and `get_up_vector`
   * Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
   * Added parameter to enable/disable pedestrian navigation in standalone mode
   * Improved mesh split in standalone mode
+  * Fixed delay in the tcp communication from server to client, improving performance in synchronous mode in linux systems
   * Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
   * Fixed collision issues when debug draw(debug.draw_line) is called 
 

PythonAPI/examples/manual_control.py

@@ -906,7 +906,7 @@ class CameraManager(object):
             ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)', {}],
             ['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
                 'Camera Semantic Segmentation (CityScapes Palette)', {}],
-            ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {}],
+            ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
             ['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
             ['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
                 {'lens_circle_multiplier': '3.0',
@@ -925,7 +925,14 @@ class CameraManager(object):
                 for attr_name, attr_value in item[3].items():
                     bp.set_attribute(attr_name, attr_value)
             elif item[0].startswith('sensor.lidar'):
-                bp.set_attribute('range', '50')
+                self.lidar_range = 50
+
+                for attr_name, attr_value in item[3].items():
+                    bp.set_attribute(attr_name, attr_value)
+                    if attr_name == 'range':
+                        self.lidar_range = float(attr_value)
+
+
             item.append(bp)
         self.index = None
 
@@ -974,7 +981,7 @@ class CameraManager(object):
             points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
             points = np.reshape(points, (int(points.shape[0] / 3), 3))
             lidar_data = np.array(points[:, :2])
-            lidar_data *= min(self.hud.dim) / 100.0
+            lidar_data *= min(self.hud.dim) / (2.0 * self.lidar_range)
             lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
             lidar_data = np.fabs(lidar_data)  # pylint: disable=E1111
             lidar_data = lidar_data.astype(np.int32)

PythonAPI/util/raycast_sensor_testing.py

@@ -0,0 +1,505 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2020 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>.
+
+"""
+Raycast sensor profiler
+
+This script can be used to test, visualize and profile the raycast sensors,
+LiDARs and Radar (radar visualization not available, sorry).
+
+By default, the script render one RGB Camera and three LiDARS whose output
+can be visualized in a window just running:
+  python raycast_sensor_testing.py
+
+For profiling, you can choose the number of LiDARs and Radars and then use
+the profiling option to run a series of simulations for points from 100k
+to 1.5M per second. In this mode we do not render anything but processing
+of the data is done.
+For example for profiling one lidar:
+  python raycast_sensor_testing.py -ln 1 --profiling
+And for profiling one radar:
+  python raycast_sensor_testing.py -rn 1 --profiling
+
+"""
+
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+import argparse
+import random
+import time
+import numpy as np
+
+
+try:
+    import pygame
+    from pygame.locals import K_ESCAPE
+    from pygame.locals import K_q
+except ImportError:
+    raise RuntimeError('cannot import pygame, make sure pygame package is installed')
+
+class CustomTimer:
+    def __init__(self):
+        try:
+            self.timer = time.perf_counter
+        except AttributeError:
+            self.timer = time.time
+
+    def time(self):
+        return self.timer()
+
+class DisplayManager:
+    def __init__(self, grid_size, window_size, show_window=True):
+        if show_window:
+            pygame.init()
+            pygame.font.init()
+            self.display = pygame.display.set_mode(window_size, pygame.HWSURFACE | pygame.DOUBLEBUF)
+        else:
+            self.display = None
+
+        self.grid_size = grid_size
+        self.window_size = window_size
+        self.sensor_list = []
+
+    def get_window_size(self):
+        return [int(self.window_size[0]), int(self.window_size[1])]
+
+    def get_display_size(self):
+        return [int(self.window_size[0]/self.grid_size[0]), int(self.window_size[1]/self.grid_size[1])]
+
+    def get_display_offset(self, gridPos):
+        dis_size = self.get_display_size()
+        return [int(gridPos[0] * dis_size[0]), int(gridPos[1] * dis_size[1])]
+
+    def add_sensor(self, sensor):
+        self.sensor_list.append(sensor)
+
+    def get_sensor_list(self):
+        return self.sensor_list
+
+    def render(self):
+        if not self.render_enabled():
+            return
+
+        for s in self.sensor_list:
+            s.render()
+
+        pygame.display.flip()
+
+    def destroy(self):
+        for s in self.sensor_list:
+            s.destroy()
+
+    def render_enabled(self):
+        return self.display != None
+
+class SensorManager:
+    def __init__(self, world, display_man, sensor_type, transform, attached, sensor_options, display_pos):
+        self.surface = None
+        self.world = world
+        self.display_man = display_man
+        self.display_pos = display_pos
+        self.sensor = self.init_sensor(sensor_type, transform, attached, sensor_options)
+        self.sensor_options = sensor_options
+        self.timer = CustomTimer()
+
+        self.time_processing = 0.0
+        self.tics_processing = 0
+
+        self.display_man.add_sensor(self)
+
+    def init_sensor(self, sensor_type, transform, attached, sensor_options):
+        if sensor_type == 'RGBCamera':
+            camera_bp = self.world.get_blueprint_library().find('sensor.camera.rgb')
+            disp_size = self.display_man.get_display_size()
+            camera_bp.set_attribute('image_size_x', str(disp_size[0]))
+            camera_bp.set_attribute('image_size_y', str(disp_size[1]))
+
+            for key in sensor_options:
+                camera_bp.set_attribute(key, sensor_options[key])
+
+            camera = self.world.spawn_actor(camera_bp, transform, attach_to=attached)
+            camera.listen(self.save_rgb_image)
+
+            return camera
+
+        elif sensor_type == 'LiDAR':
+            lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
+            lidar_bp.set_attribute('range', '100')
+
+            for key in sensor_options:
+                lidar_bp.set_attribute(key, sensor_options[key])
+
+            lidar = self.world.spawn_actor(lidar_bp, transform, attach_to=attached)
+
+            lidar.listen(self.save_lidar_image)
+
+            return lidar
+        elif sensor_type == "Radar":
+            radar_bp = self.world.get_blueprint_library().find('sensor.other.radar')
+            for key in sensor_options:
+                radar_bp.set_attribute(key, sensor_options[key])
+
+            radar = self.world.spawn_actor(radar_bp, transform, attach_to=attached)
+            radar.listen(self.save_radar_image)
+
+            return radar
+        else:
+            return None
+
+    def get_sensor(self):
+        return self.sensor
+
+    def save_rgb_image(self, image):
+        t_start = self.timer.time()
+
+        image.convert(carla.ColorConverter.Raw)
+        array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+        array = np.reshape(array, (image.height, image.width, 4))
+        array = array[:, :, :3]
+        array = array[:, :, ::-1]
+
+        if self.display_man.render_enabled():
+            self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
+
+        t_end = self.timer.time()
+        self.time_processing += (t_end-t_start)
+        self.tics_processing += 1
+
+    def save_lidar_image(self, image):
+        t_start = self.timer.time()
+
+        disp_size = self.display_man.get_display_size()
+        lidar_range = 2.0*float(self.sensor_options['range'])
+
+        points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
+        points = np.reshape(points, (int(points.shape[0] / 3), 3))
+        lidar_data = np.array(points[:, :2])
+        lidar_data *= min(disp_size) / lidar_range
+        lidar_data += (0.5 * disp_size[0], 0.5 * disp_size[1])
+        lidar_data = np.fabs(lidar_data)  # pylint: disable=E1111
+        lidar_data = lidar_data.astype(np.int32)
+        lidar_data = np.reshape(lidar_data, (-1, 2))
+        lidar_img_size = (disp_size[0], disp_size[1], 3)
+        lidar_img = np.zeros((lidar_img_size), dtype=np.uint8)
+
+        lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
+
+        if self.display_man.render_enabled():
+            self.surface = pygame.surfarray.make_surface(lidar_img)
+
+        t_end = self.timer.time()
+        self.time_processing += (t_end-t_start)
+        self.tics_processing += 1
+
+    def save_radar_image(self, radar_data):
+        t_start = self.timer.time()
+        #print("Hola, saving Radar data!!")
+        # To get a numpy [[vel, altitude, azimuth, depth],...[,,,]]:
+        points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
+        points = np.reshape(points, (len(radar_data), 4))
+
+        t_end = self.timer.time()
+        self.time_processing += (t_end-t_start)
+        self.tics_processing += 1
+
+    def render(self):
+        if self.surface is not None:
+            offset = self.display_man.get_display_offset(self.display_pos)
+            self.display_man.display.blit(self.surface, offset)
+
+    def destroy(self):
+        self.sensor.destroy()
+
+def one_run(args, client):
+    """This function performed one test run using the args parameters
+    and connecting to the carla client passed.
+    """
+
+    display_manager = None
+    vehicle = None
+    vehicle_list = []
+    prof_str = ""
+    timer = CustomTimer()
+
+    try:
+
+        # Getting the world and
+        world = client.get_world()
+
+        if args.sync:
+            traffic_manager = client.get_trafficmanager(8000)
+            settings = world.get_settings()
+            traffic_manager.set_synchronous_mode(True)
+            settings.synchronous_mode = True
+            settings.fixed_delta_seconds = 0.05
+            world.apply_settings(settings)
+
+
+
+        # Instanciating the vehicle to which we attached the sensors
+        bp = world.get_blueprint_library().filter('vehicle')[0]
+
+        if bp.has_attribute('color'):
+            color = random.choice(bp.get_attribute('color').recommended_values)
+            bp.set_attribute('color', color)
+
+        vehicle = world.spawn_actor(bp, world.get_map().get_spawn_points()[0])
+        vehicle_list.append(vehicle)
+
+        vehicle.set_autopilot(True)
+
+
+
+        # Display Manager organize all the sensors an its display in a window
+        display_manager = DisplayManager(grid_size=[2, 2], window_size=[args.width, args.height], show_window=args.render_window)
+
+
+
+        # If require, we instanciate the RGB camera
+        if args.render_cam:
+            SensorManager(world, display_manager, 'RGBCamera', carla.Transform(carla.Location(x=1.5, z=2.4)), vehicle, {}, [0, 0])
+
+
+
+        # If any, we instanciate the required lidars
+        lidar_points_per_second = args.lidar_points
+
+        if args.lidar_number >= 3:
+            SensorManager(world, display_manager, 'LiDAR', carla.Transform(carla.Location(x=0, z=2.4)), vehicle, {'channels' : '64', 'range' : '50',  'points_per_second': lidar_points_per_second}, [1, 0])
+
+        if args.lidar_number >= 2:
+            SensorManager(world, display_manager, 'LiDAR', carla.Transform(carla.Location(x=0, z=2.4)), vehicle, {'channels' : '64', 'range' : '100', 'points_per_second': lidar_points_per_second}, [0, 1])
+
+        if args.lidar_number >= 1:
+            SensorManager(world, display_manager, 'LiDAR', carla.Transform(carla.Location(x=0, z=2.4)), vehicle, {'channels' : '64', 'range' : '200', 'points_per_second': lidar_points_per_second}, [1, 1])
+
+
+
+        # If any, we instanciate the required radars
+        radar_points_per_second = args.radar_points
+
+        if args.radar_number >= 3:
+            SensorManager(world, display_manager, 'Radar', carla.Transform(carla.Location(x=0, z=2.4), carla.Rotation(pitch=5, yaw=90)), vehicle, {'points_per_second': radar_points_per_second}, [2, 2])
+
+        if args.radar_number >= 2:
+            SensorManager(world, display_manager, 'Radar', carla.Transform(carla.Location(x=0, z=2.4), carla.Rotation(pitch=5, yaw=-90)), vehicle, {'points_per_second': radar_points_per_second}, [2, 2])
+
+        if args.radar_number >= 1:
+            SensorManager(world, display_manager, 'Radar', carla.Transform(carla.Location(x=0, z=2.4), carla.Rotation(pitch=5)), vehicle, {'points_per_second': radar_points_per_second}, [2, 2])
+
+
+
+        call_exit = False
+        time_init_sim = timer.time()
+
+        frame = 0
+        time0 = timer.time()
+
+        while True:
+            frame += 1
+
+            # Carla Tick
+            if args.sync:
+                world.tick()
+            else:
+                world.wait_for_tick()
+
+            # Render received data
+            display_manager.render()
+
+            # Time measurement for profiling or to output
+            if not args.profiling:
+                if frame == 30:
+                    time_frames = timer.time() - time0
+                    time_procc = 0
+                    for sensor in display_manager.sensor_list:
+                        time_procc += sensor.time_processing
+
+                    print("FPS: %.3f %.3f %.3f" % (time_frames, 1.0/time_frames * 30, time_procc/time_frames))
+                    frame = 0
+                    for sensor in display_manager.sensor_list:
+                        sensor.time_processing = 0
+                        sensor.tics_processing = 0
+                    time0 = timer.time()
+
+                if args.render_window:
+                    for event in pygame.event.get():
+                        if event.type == pygame.QUIT:
+                            call_exit = True
+                        elif event.type == pygame.KEYDOWN:
+                            if event.key == K_ESCAPE or event.key == K_q:
+                                call_exit = True
+                                break
+            else:
+                if (timer.time() - time_init_sim) < 5.0:
+                    frame = 0
+                    for sensor in display_manager.sensor_list:
+                        sensor.time_processing = 0
+                        sensor.tics_processing = 0
+                    time0 = timer.time()
+
+                if (timer.time() - time0) > 10.0:
+                    time_frames = timer.time() - time0
+
+                    time_procc = 0
+                    for sensor in display_manager.sensor_list:
+                        time_procc += sensor.time_processing
+                    prof_str = "%-10s %-9s %-15s %-7.2f %-20.3f" % (args.lidar_number, args.radar_number, lidar_points_per_second, float(frame) / time_frames, time_procc/time_frames)
+                    break
+
+            if call_exit:
+                break
+
+    finally:
+        if display_manager:
+            display_manager.destroy()
+
+        client.apply_batch([carla.command.DestroyActor(x) for x in vehicle_list])
+
+        if args.sync:
+            settings = world.get_settings()
+            settings.synchronous_mode = False
+            settings.fixed_delta_seconds = None
+            world.apply_settings(settings)
+
+    return prof_str
+
+
+
+def main():
+    argparser = argparse.ArgumentParser(
+        description='CARLA Sensor tutorial')
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '--sync',
+        action='store_true',
+        help='Synchronous mode execution')
+    argparser.add_argument(
+        '--async',
+        dest='sync',
+        action='store_false',
+        help='Asynchronous mode execution')
+    argparser.set_defaults(sync=True)
+    argparser.add_argument(
+        '--res',
+        metavar='WIDTHxHEIGHT',
+        default='1280x720',
+        help='window resolution (default: 1280x720)')
+    argparser.add_argument(
+        '-lp', '--lidar_points',
+        metavar='LP',
+        default='100000',
+        help='lidar points per second (default: "100000")')
+    argparser.add_argument(
+        '-ln', '--lidar_number',
+        metavar='LN',
+        default=3,
+        type=int,
+        choices=range(0, 4),
+        help='Number of lidars to render (from zero to three)')
+    argparser.add_argument(
+        '-rp', '--radar_points',
+        metavar='RP',
+        default='100000',
+        help='radar points per second (default: "100000")')
+    argparser.add_argument(
+        '-rn', '--radar_number',
+        metavar='LN',
+        default=0,
+        type=int,
+        choices=range(0, 4),
+        help='Number of radars to render (from zero to three)')
+    argparser.add_argument(
+        '--camera',
+        dest='render_cam', action='store_true',
+        help='render also RGB camera (camera enable by default)')
+    argparser.add_argument('--no-camera',
+        dest='render_cam', action='store_false',
+        help='no render RGB camera (camera disable by default)')
+    argparser.set_defaults(render_cam=True)
+    argparser.add_argument(
+        '--profiling',
+        action='store_true',
+        help='Use the script in profiling mode. It measures the performance of \
+         the lidar for different number of points.')
+    argparser.set_defaults(profiling=False)
+    argparser.add_argument(
+        '--no-render-window',
+        action='store_false',
+        dest='render_window',
+        help='Render visualization window.')
+    argparser.set_defaults(render_window=True)
+
+    args = argparser.parse_args()
+
+    args.width, args.height = [int(x) for x in args.res.split('x')]
+
+    try:
+        client = carla.Client(args.host, args.port)
+        client.set_timeout(5.0)
+
+        if args.profiling:
+            print("-------------------------------------------------------")
+            print("# Running profiling with %s lidars and %s radars." % (args.lidar_number, args.radar_number))
+            args.render_cam = False
+            args.render_window = False
+            runs_output = []
+
+            points_range = ['100000', '200000', '300000', '400000', '500000',
+                            '600000', '700000', '800000', '900000', '1000000',
+                            '1100000', '1200000', '1300000', '1400000', '1500000']
+            for points in points_range:
+                args.lidar_points = points
+                args.radar_points = points
+                run_str = one_run(args, client)
+                runs_output.append(run_str)
+
+            print("-------------------------------------------------------")
+            print("# Profiling of parallel raycast sensors (LiDAR and Radar)")
+            try:
+                import multiprocessing
+                print("#Number of cores: %d" % multiprocessing.cpu_count())
+            except ImportError:
+                print("#Hardware information not available, please install the " \
+                    "multiprocessing module")
+
+            print("#NumLidars NumRadars PointsPerSecond FPS     PercentageProcessing")
+            for o  in runs_output:
+                print(o)
+
+        else:
+            one_run(args, client)
+
+    except KeyboardInterrupt:
+        print('\nCancelled by user. Bye!')
+
+
+if __name__ == '__main__':
+
+    main()

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

@@ -4,10 +4,13 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
+#include <PxScene.h>
+
 #include "Carla.h"
 #include "Carla/Sensor/Radar.h"
 #include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 #include "Kismet/KismetMathLibrary.h"
+#include "Runtime/Core/Public/Async/ParallelFor.h"
 
 #include "carla/geom/Math.h"
 
@@ -89,7 +92,6 @@ void ARadar::SendLineTraces(float DeltaTime)
 {
 
   constexpr float TO_METERS = 1e-2;
-  FHitResult OutHit(ForceInit);
   const FTransform& ActorTransform = GetActorTransform();
   const FRotator& TransformRotator = ActorTransform.Rotator();
   const FVector& RadarLocation = GetActorLocation();
@@ -103,8 +105,10 @@ void ARadar::SendLineTraces(float DeltaTime)
   const float MaxRy = FMath::Tan(FMath::DegreesToRadians(VerticalFOV * 0.5f)) * Range;
   const int NumPoints = (int)(PointsPerSecond * DeltaTime);
 
-  for (int i = 0; i < NumPoints; i++)
+  FCriticalSection Mutex;
-  {
+  GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
+  ParallelFor(NumPoints, [&](int32 idxChannel) {
+    FHitResult OutHit(ForceInit);
     const float Radius = RandomEngine->GetUniformFloat();
     const float Angle = RandomEngine->GetUniformFloatInRange(0.0f, carla::geom::Math::Pi2<float>());
 
@@ -138,14 +142,17 @@ void ARadar::SendLineTraces(float DeltaTime)
         TransformZAxis
       );
 
+      Mutex.Lock();
       RadarData.WriteDetection({
         RelativeVelocity,
         AzimuthAndElevation.X,
         AzimuthAndElevation.Y,
         OutHit.Distance * TO_METERS
       });
+      Mutex.Unlock();
     }
-  }
+  });
+  GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
 }
 
 float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation)

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

@@ -4,6 +4,8 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
+#include <PxScene.h>
+
 #include "Carla.h"
 #include "Carla/Sensor/RayCastLidar.h"
 #include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
@@ -15,6 +17,7 @@
 #include "DrawDebugHelpers.h"
 #include "Engine/CollisionProfile.h"
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
+#include "Runtime/Core/Public/Async/ParallelFor.h"
 
 FActorDefinition ARayCastLidar::GetSensorDefinition()
 {
@@ -93,17 +96,30 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
   const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
   LidarMeasurement.Reset(ChannelCount * PointsToScanWithOneLaser);
+  AuxPoints.resize(ChannelCount);
 
-  for (auto Channel = 0u; Channel < ChannelCount; ++Channel)
+
-  {
+  GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
-    for (auto i = 0u; i < PointsToScanWithOneLaser; ++i)
+  ParallelFor(ChannelCount, [&](int32 idxChannel) {
-    {
+    AuxPoints[idxChannel].clear();
+    AuxPoints[idxChannel].reserve(PointsToScanWithOneLaser);
+
+    FCriticalSection Mutex;
+    ParallelFor(PointsToScanWithOneLaser, [&](int32 idxPtsOneLaser) {
       FVector Point;
-      const float Angle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i;
+      const float Angle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * idxPtsOneLaser;
-      if (ShootLaser(Channel, Angle, Point))
+      if (ShootLaser(idxChannel, Angle, Point)) {
-      {
+        Mutex.Lock();
-        LidarMeasurement.WritePoint(Channel, Point);
+        AuxPoints[idxChannel].emplace_back(Point);
+        Mutex.Unlock();
       }
+    });
+  });
+  GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
+
+  for (auto idxChannel = 0u; idxChannel < ChannelCount; ++idxChannel) {
+    for (auto& Pt : AuxPoints[idxChannel]) {
+      LidarMeasurement.WritePoint(idxChannel, Pt);
     }
   }
 

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

@@ -54,6 +54,7 @@ private:
   FLidarDescription Description;
 
   TArray<float> LaserAngles;
+  std::vector<std::vector<FVector>> AuxPoints;
 
   FLidarMeasurement LidarMeasurement;
 };