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Fix lidar parallel scaling 

The creation of FCollisionQueryParams object inside each raycasting
point was slowing down some threads breaking the parallel speedup.
This commit is contained in:
Daniel Santos-Olivan 2021-07-22 16:47:49 +02:00 committed by bernat
parent 33bd08b88f
commit c8f14d4b42
2 changed files with 13 additions and 6 deletions
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17
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
View File

@ -110,6 +110,11 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
TRACE_CPUPROFILER_EVENT_SCOPE(ParallelFor);
ParallelFor(ChannelCount, [&](int32 idxChannel) {
TRACE_CPUPROFILER_EVENT_SCOPE(ParallelForTask);
FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, this);
TraceParams.bTraceComplex = true;
TraceParams.bReturnPhysicalMaterial = false;
for (auto idxPtsOneLaser = 0u; idxPtsOneLaser < PointsToScanWithOneLaser; idxPtsOneLaser++) {
FHitResult HitResult;
const float VertAngle = LaserAngles[idxChannel];
@ -117,7 +122,7 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
* idxPtsOneLaser, Description.HorizontalFov) - Description.HorizontalFov / 2;
const bool PreprocessResult = RayPreprocessCondition[idxChannel][idxPtsOneLaser];
if (PreprocessResult && ShootLaser(VertAngle, HorizAngle, HitResult)) {
if (PreprocessResult && ShootLaser(VertAngle, HorizAngle, HitResult, TraceParams)) {
WritePointAsync(idxChannel, HitResult);
}
};
@ -153,11 +158,13 @@ void ARayCastSemanticLidar::PreprocessRays(uint32_t Channels, uint32_t MaxPoints
}
void ARayCastSemanticLidar::WritePointAsync(uint32_t channel, FHitResult &detection) {
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
DEBUG_ASSERT(GetChannelCount() > channel);
RecordedHits[channel].emplace_back(detection);
}
void ARayCastSemanticLidar::ComputeAndSaveDetections(const FTransform& SensorTransform) {
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
for (auto idxChannel = 0u; idxChannel < Description.Channels; ++idxChannel)
PointsPerChannel[idxChannel] = RecordedHits[idxChannel].size();
SemanticLidarData.ResetMemory(PointsPerChannel);
@ -200,22 +207,22 @@ void ARayCastSemanticLidar::ComputeRawDetection(const FHitResult& HitInfo, const
}
bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float HorizontalAngle, FHitResult& HitResult) const
bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float HorizontalAngle, FHitResult& HitResult, FCollisionQueryParams& TraceParams) const
{
FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, this);
TraceParams.bTraceComplex = true;
TraceParams.bReturnPhysicalMaterial = false;
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
FHitResult HitInfo(ForceInit);
FTransform ActorTransf = GetTransform();
FVector LidarBodyLoc = ActorTransf.GetLocation();
FRotator LidarBodyRot = ActorTransf.Rotator();
FRotator LaserRot (VerticalAngle, HorizontalAngle, 0); // float InPitch, float InYaw, float InRoll
FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
LaserRot,
LidarBodyRot
);
const auto Range = Description.Range;
FVector EndTrace = Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.h
View File

@ -49,7 +49,7 @@ protected:
void SimulateLidar(const float DeltaTime);
/// Shoot a laser ray-trace, return whether the laser hit something.
bool ShootLaser(const float VerticalAngle, float HorizontalAngle, FHitResult &HitResult) const;
bool ShootLaser(const float VerticalAngle, float HorizontalAngle, FHitResult &HitResult, FCollisionQueryParams& TraceParams) const;
/// Method that allow to preprocess if the rays will be traced.
virtual void PreprocessRays(uint32_t Channels, uint32_t MaxPointsPerChannel);