From d7b1e4a3156493e042f1b5de9c739c67f41500e9 Mon Sep 17 00:00:00 2001
From: Daniel Santos-Olivan <dsantosolivan@gmail.com>
Date: Wed, 29 Jul 2020 17:40:49 +0200
Subject: [PATCH] RayCastRawLidar: Added optimization in the tag getter

---
 .../Source/Carla/Sensor/RayCastRawLidar.cpp   | 23 ++-----------------
 1 file changed, 2 insertions(+), 21 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
index a8adde26a..7bca126a1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
@@ -152,25 +152,6 @@ void ARayCastRawLidar::SimulateLidar(const float DeltaTime)
     }
   }
 
-static ECityObjectLabel GetComponentTag(const FHitResult& HitInfo) {
-  auto StaticMeshComponent = Cast<UStaticMeshComponent>(HitInfo.Component.Get());
-
-  if (StaticMeshComponent) {
-    return ATagger::GetLabelByPath(StaticMeshComponent->GetStaticMesh());
-  }else {
-    auto SkeletalMeshComponent = Cast<USkeletalMeshComponent>(HitInfo.Component.Get());
-    if (SkeletalMeshComponent) {
-      return ATagger::GetLabelByPath(SkeletalMeshComponent->GetPhysicsAsset());
-    }
-    else {
-      return ECityObjectLabel::None;
-    }
-  }
-
-
-}
-
-
 void ARayCastRawLidar::ComputeRawDetection(const FHitResult& HitInfo, const FTransform& SensorTransf, FRawDetection& Detection) const
 {
     const FVector HitPoint = HitInfo.ImpactPoint;
@@ -192,10 +173,10 @@ void ARayCastRawLidar::ComputeRawDetection(const FHitResult& HitInfo, const FTra
         const FActorInfo* ActorInfo = view.GetActorInfo();
         Detection.object_idx = ActorInfo->Description.UId;
 
-        Detection.object_tag = static_cast<uint32_t>(GetComponentTag(HitInfo));
+        Detection.object_tag = static_cast<uint32_t>(HitInfo.Component->CustomDepthStencilValue);
       }
       else {
-        Detection.object_tag = static_cast<uint32_t>(GetComponentTag(HitInfo));
+        Detection.object_tag = static_cast<uint32_t>(HitInfo.Component->CustomDepthStencilValue);
       }
     }
     else {