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Added custom drop off of lidar points from the API

This commit is contained in:
Daniel Santos-Olivan 2020-07-01 14:39:42 +02:00 committed by Marc Garcia Puig
parent ba230da58f
commit d18ba38144
4 changed files with 115 additions and 15 deletions
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32
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
View File

@ -825,9 +825,31 @@ void UActorBlueprintFunctionLibrary::MakeLidarDefinition(
LowerFOV.Id = TEXT("lower_fov");
LowerFOV.Type = EActorAttributeType::Float;
LowerFOV.RecommendedValues = { TEXT("-30.0") };
// Atmospheric Attenuation Rate.
FActorVariation AtmospAttenRate;
AtmospAttenRate.Id = TEXT("atmosphere_attenuation_rate");
AtmospAttenRate.Type = EActorAttributeType::Float;
AtmospAttenRate.RecommendedValues = { TEXT("0.004") };
// Dropoff General Rate
FActorVariation DropOffGenRate;
DropOffGenRate.Id = TEXT("dropoff_general_rate");
DropOffGenRate.Type = EActorAttributeType::Float;
DropOffGenRate.RecommendedValues = { TEXT("0.45") };
// Dropoff intensity limit.
FActorVariation DropOffIntensityLimit;
DropOffIntensityLimit.Id = TEXT("dropoff_intensity_limit");
DropOffIntensityLimit.Type = EActorAttributeType::Float;
DropOffIntensityLimit.RecommendedValues = { TEXT("0.8") };
// Dropoff at zero intensity.
FActorVariation DropOffAtZeroIntensity;
DropOffAtZeroIntensity.Id = TEXT("dropoff_zero_intensity");
DropOffAtZeroIntensity.Type = EActorAttributeType::Float;
DropOffAtZeroIntensity.RecommendedValues = { TEXT("0.4") };
Definition.Variations.Append(
{Channels, Range, PointsPerSecond, Frequency, UpperFOV, LowerFOV});
{Channels, Range, PointsPerSecond, Frequency, UpperFOV, LowerFOV,
AtmospAttenRate, DropOffGenRate, DropOffIntensityLimit,
DropOffAtZeroIntensity});
Success = CheckActorDefinition(Definition);
}
@ -1432,6 +1454,14 @@ void UActorBlueprintFunctionLibrary::SetLidar(
RetrieveActorAttributeToFloat("upper_fov", Description.Variations, Lidar.UpperFovLimit);
Lidar.LowerFovLimit =
RetrieveActorAttributeToFloat("lower_fov", Description.Variations, Lidar.LowerFovLimit);
Lidar.AtmospAttenRate =
RetrieveActorAttributeToFloat("atmosphere_attenuation_rate", Description.Variations, Lidar.AtmospAttenRate);
Lidar.DropOffGenRate =
RetrieveActorAttributeToFloat("dropoff_general_rate", Description.Variations, Lidar.DropOffGenRate);
Lidar.DropOffIntensityLimit =
RetrieveActorAttributeToFloat("dropoff_intensity_limit", Description.Variations, Lidar.DropOffIntensityLimit);
Lidar.DropOffAtZeroIntensity =
RetrieveActorAttributeToFloat("dropoff_zero_intensity", Description.Variations, Lidar.DropOffAtZeroIntensity);
}
void UActorBlueprintFunctionLibrary::SetGnss(

18
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h
View File

@ -39,6 +39,24 @@ struct CARLA_API FLidarDescription
UPROPERTY(EditAnywhere)
float LowerFovLimit = -30.0f;
/// Attenuation Rate in the atmosphere in m^-1
UPROPERTY(EditAnywhere)
float AtmospAttenRate = 0.004f;
/// General drop off rate
UPROPERTY(EditAnywhere)
float DropOffGenRate = 0.45f;
/// General drop off rate
UPROPERTY(EditAnywhere)
float DropOffIntensityLimit = 0.8f;
/// General drop off rate
UPROPERTY(EditAnywhere)
float DropOffAtZeroIntensity = 0.4f;
/// Wether to show debug points of laser hits in simulator.
UPROPERTY(EditAnywhere)
bool ShowDebugPoints = false;

67
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
View File

@ -5,10 +5,11 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include <PxScene.h>
#include <cmath>
#include "Carla.h"
#include "Carla/Sensor/RayCastLidar.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
#include "carla/geom/Math.h"
#include <compiler/disable-ue4-macros.h>
#include "carla/geom/Math.h"
@ -61,6 +62,11 @@ void ARayCastLidar::CreateLasers()
Description.UpperFovLimit - static_cast<float>(i) * DeltaAngle;
LaserAngles.Emplace(VerticalAngle);
}
// Compute drop off model parameters
DropOffBeta = 1.0f - Description.DropOffAtZeroIntensity;
DropOffAlpha = Description.DropOffAtZeroIntensity / Description.DropOffIntensityLimit;
DropOffGenActive = Description.DropOffGenRate > std::numeric_limits<float>::epsilon();
}
void ARayCastLidar::Tick(const float DeltaTime)
@ -97,7 +103,7 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
const float AngleDistanceOfTick = Description.RotationFrequency * 360.0f * DeltaTime;
const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
LidarMeasurement.Reset(ChannelCount, PointsToScanWithOneLaser);
LidarMeasurement.Reset(ChannelCount, PointsToScanWithOneLaser);
GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
@ -125,16 +131,47 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
LidarMeasurement.SetHorizontalAngle(HorizontalAngle);
}
float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FVector &XYZ, const FHitResult& HitInfo) const
float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FHitResult& HitInfo) const
{
const float Distance = 0.01f * XYZ.Size();
const float AttenAtm = -0.004;
const FVector HitPoint = HitInfo.ImpactPoint - LidarBodyLoc;
const float Distance = 0.01f * HitPoint.Size();
const float IntEm = 1.0f;
const float AttenAtm = Description.AtmospAttenRate;
const float AbsAtm = exp(-AttenAtm * Distance);
const float AbsAtm = exp(AttenAtm * Distance);
const FActorRegistry &Registry = GetEpisode().GetActorRegistry();
const float IntRec = IntEm * AbsAtm;
uint8 label = 69;
// AActor* actor = HitInfo.Actor.Get();
// if (actor != nullptr) {
// FActorView view = Registry.Find(actor);
//
// if(view.IsValid()){
// const FActorInfo* ActorInfo = view.GetActorInfo();
//
// if(ActorInfo != nullptr) {
// //TSet<ECityObjectLabel> labels = ActorInfo->SemanticTags;
// //if(labels.Num() == 1)
// // label = static_cast<uint8>(*labels.CreateConstIterator());
// }
// else {
// UE_LOG(LogCarla, Warning, TEXT("Info not valid!!!!"));
// }
// }
// else {
// UE_LOG(LogCarla, Warning, TEXT("View not valid %p!!!!"), view.GetActor());
// }
//
// }
// else {
// UE_LOG(LogCarla, Warning, TEXT("Actor not found!!!!"));
// }
const float IntRec = AbsAtm;
return IntRec;
}
@ -142,7 +179,7 @@ float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FVector
bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle, FVector &XYZ, float &Intensity) const
{
if(RandomEngine->GetUniformFloat() > 0.55f)
if(DropOffGenActive && RandomEngine->GetUniformFloat() < Description.DropOffGenRate)
return false;
const float VerticalAngle = LaserAngles[Channel];
@ -173,6 +210,7 @@ bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle
FCollisionResponseParams::DefaultResponseParam
);
if (HitInfo.bBlockingHit)
{
if (Description.ShowDebugPoints)
@ -190,12 +228,15 @@ bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle
const FVector hp = HitInfo.ImpactPoint;
XYZ = actorTransf.Inverse().TransformPosition(hp);
Intensity = ComputeIntensity(LidarBodyLoc, XYZ, HitInfo);
Intensity = ComputeIntensity(LidarBodyLoc, HitInfo);
if(Intensity*0.5 + 0.6 < RandomEngine->GetUniformFloat())
return false;
return true;
if(Intensity > Description.DropOffIntensityLimit)
return true;
else
return RandomEngine->GetUniformFloat() < DropOffAlpha * Intensity + DropOffBeta;
} else {
return false;
}

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
View File

@ -51,7 +51,7 @@ private:
bool ShootLaser(uint32 Channel, float HorizontalAngle, FVector &Point, float& Intensity) const;
/// Compute the received intensity of the point
float ComputeIntensity(const FVector &LidarBodyLoc, const FVector &XYZ, const FHitResult& HitInfo) const;
float ComputeIntensity(const FVector &LidarBodyLoc, const FHitResult& HitInfo) const;
UPROPERTY(EditAnywhere)
FLidarDescription Description;
@ -59,4 +59,15 @@ private:
TArray<float> LaserAngles;
FLidarMeasurement LidarMeasurement;
// Enable/Disable general dropoff of lidar points
bool DropOffGenActive;
// 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 DropOffAlpha;
float DropOffBeta;
};