Lidar Refactor

Signed-off-by: Antoni Puch <antoni.puch@robotec.ai>
o3de · Aug 21, 2023 · 3da41e9 · 3da41e9
1 parent 3520d33
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Showing 16 changed files with 413 additions and 509 deletions.
diff --git a/Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.cpp b/Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.cpp
diff --git a/Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.h b/Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.h
diff --git a/Gems/ROS2/Code/Source/Lidar/LidarBase.cpp b/Gems/ROS2/Code/Source/Lidar/LidarBase.cpp
@@ -0,0 +1,183 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include "LidarBase.h"
+#include <Atom/RPI.Public/AuxGeom/AuxGeomFeatureProcessorInterface.h>
+#include <Atom/RPI.Public/Scene.h>
+#include <AzFramework/Physics/PhysicsSystem.h>
+#include <Lidar/LidarRegistrarSystemComponent.h>
+#include <Lidar/LidarBase.h>
+#include <ROS2/Frame/ROS2FrameComponent.h>
+#include <ROS2/ROS2Bus.h>
+#include <ROS2/Utilities/ROS2Names.h>
+
+namespace ROS2
+{
+
+    void LidarBase::Reflect(AZ::ReflectContext* context)
+    {
+        LidarSensorConfiguration::Reflect(context);
+
+        if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serialize->Class<LidarBase>()->Version(2)->Field(
+                "lidarConfiguration", &LidarBase::m_lidarConfiguration);
+
+            if (AZ::EditContext* ec = serialize->GetEditContext())
+            {
+                ec->Class<LidarBase>("ROS2 Lidar Sensor", "Lidar sensor component")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::ComboBox,
+                        &LidarBase::m_lidarConfiguration,
+                        "Lidar configuration",
+                        "Lidar configuration")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly);
+            }
+        }
+    }
+
+    void LidarBase::ConnectToLidarRaycaster()
+    {
+        if (auto raycasterId = m_implementationToRaycasterMap.find(m_lidarConfiguration.m_lidarSystem);
+            raycasterId != m_implementationToRaycasterMap.end())
+        {
+            m_lidarRaycasterId = raycasterId->second;
+            return;
+        }
+
+        m_lidarRaycasterId = LidarId::CreateNull();
+        LidarSystemRequestBus::EventResult(
+            m_lidarRaycasterId, AZ_CRC(m_lidarConfiguration.m_lidarSystem), &LidarSystemRequestBus::Events::CreateLidar, m_entityId);
+        AZ_Assert(!m_lidarRaycasterId.IsNull(), "Could not access selected Lidar System.");
+
+        m_implementationToRaycasterMap.emplace(m_lidarConfiguration.m_lidarSystem, m_lidarRaycasterId);
+    }
+
+    void LidarBase::ConfigureLidarRaycaster()
+    {
+        m_lidarConfiguration.FetchLidarImplementationFeatures();
+        LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayOrientations, m_lastRotations);
+        LidarRaycasterRequestBus::Event(
+            m_lidarRaycasterId,
+            &LidarRaycasterRequestBus::Events::ConfigureMinimumRayRange,
+            m_lidarConfiguration.m_lidarParameters.m_minRange);
+        LidarRaycasterRequestBus::Event(
+            m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayRange, m_lidarConfiguration.m_lidarParameters.m_maxRange);
+
+        if ((m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::Noise) &&
+            m_lidarConfiguration.m_lidarParameters.m_isNoiseEnabled)
+        {
+            LidarRaycasterRequestBus::Event(
+                m_lidarRaycasterId,
+                &LidarRaycasterRequestBus::Events::ConfigureNoiseParameters,
+                m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_angularNoiseStdDev,
+                m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevBase,
+                m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevRisePerMeter);
+        }
+
+        RaycastResultFlags requestedFlags = RaycastResultFlags::Ranges | RaycastResultFlags::Points;
+
+        LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRaycastResultFlags, requestedFlags);
+
+        if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers)
+        {
+            LidarRaycasterRequestBus::Event(
+                m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureIgnoredCollisionLayers, m_lidarConfiguration.m_ignoredCollisionLayers);
+        }
+
+        if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion)
+        {
+            LidarRaycasterRequestBus::Event(
+                m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ExcludeEntities, m_lidarConfiguration.m_excludedEntities);
+        }
+
+        if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints)
+        {
+            LidarRaycasterRequestBus::Event(
+                m_lidarRaycasterId,
+                &LidarRaycasterRequestBus::Events::ConfigureMaxRangePointAddition,
+                m_lidarConfiguration.m_addPointsAtMax);
+        }
+    }
+
+    LidarBase::LidarBase(AZStd::vector<LidarTemplate::LidarModel> availableModels)
+        : m_lidarConfiguration(availableModels)
+    {
+    }
+
+    LidarBase::LidarBase(const LidarSensorConfiguration& lidarConfiguration)
+        : m_lidarConfiguration(lidarConfiguration)
+    {
+    }
+
+    void LidarBase::VisualizeResults()
+    {
+        if (m_lastScanResults.m_points.empty())
+        {
+            return;
+        }
+
+        if (m_drawQueue)
+        {
+            const uint8_t pixelSize = 2;
+            AZ::RPI::AuxGeomDraw::AuxGeomDynamicDrawArguments drawArgs;
+            drawArgs.m_verts = m_lastScanResults.m_points.data();
+            drawArgs.m_vertCount = m_lastScanResults.m_points.size();
+            drawArgs.m_colors = &AZ::Colors::Red;
+            drawArgs.m_colorCount = 1;
+            drawArgs.m_opacityType = AZ::RPI::AuxGeomDraw::OpacityType::Opaque;
+            drawArgs.m_size = pixelSize;
+            m_drawQueue->DrawPoints(drawArgs);
+        }
+    }
+
+    void LidarBase::Init(AZ::EntityId entityId)
+    {
+        m_entityId = entityId;
+
+        auto* entityScene = AZ::RPI::Scene::GetSceneForEntityId(m_entityId);
+        m_drawQueue = AZ::RPI::AuxGeomFeatureProcessorInterface::GetDrawQueueForScene(entityScene);
+
+        m_lastRotations = LidarTemplateUtils::PopulateRayRotations(m_lidarConfiguration.m_lidarParameters);
+
+        m_lidarConfiguration.FetchLidarImplementationFeatures();
+        ConnectToLidarRaycaster();
+        ConfigureLidarRaycaster();
+    }
+
+    void LidarBase::Deinit()
+    {
+        for (auto& [implementation, raycasterId] : m_implementationToRaycasterMap)
+        {
+            LidarSystemRequestBus::Event(AZ_CRC(implementation), &LidarSystemRequestBus::Events::DestroyLidar, raycasterId);
+        }
+
+        m_implementationToRaycasterMap.clear();
+    }
+
+    LidarId LidarBase::GetLidarRaycasterId()
+    {
+        return m_lidarRaycasterId;
+    }
+
+    RaycastResult LidarBase::PerformRaycast()
+    {
+        AZ::Entity* entity = nullptr;
+        AZ::ComponentApplicationBus::BroadcastResult(entity, &AZ::ComponentApplicationRequests::FindEntity, m_entityId);
+        auto entityTransform = entity->FindComponent<AzFramework::TransformComponent>();
+
+        LidarRaycasterRequestBus::EventResult(
+            m_lastScanResults, m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::PerformRaycast, entityTransform->GetWorldTM());
+        if (m_lastScanResults.m_points.empty())
+        {
+            AZ_TracePrintf("Lidar Sensor Component", "No results from raycast\n");
+            return RaycastResult();
+        }
+        return m_lastScanResults;
+    }
+} // namespace ROS2