113 lines
4.4 KiB
C++
113 lines
4.4 KiB
C++
// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#ifndef LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
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#define LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
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#include "carla/sensor/CompositeSerializer.h"
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// =============================================================================
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// Follow the 4 steps to register a new sensor.
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// =============================================================================
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// 1. Include the serializer here.
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#include "carla/sensor/s11n/CollisionEventSerializer.h"
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#include "carla/sensor/s11n/DVSEventArraySerializer.h"
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#include "carla/sensor/s11n/EpisodeStateSerializer.h"
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#include "carla/sensor/s11n/GnssSerializer.h"
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#include "carla/sensor/s11n/ImageSerializer.h"
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#include "carla/sensor/s11n/NormalsImageSerializer.h"
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#include "carla/sensor/s11n/OpticalFlowImageSerializer.h"
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#include "carla/sensor/s11n/IMUSerializer.h"
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#include "carla/sensor/s11n/LidarSerializer.h"
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#include "carla/sensor/s11n/NoopSerializer.h"
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#include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
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#include "carla/sensor/s11n/RadarSerializer.h"
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#include "carla/sensor/s11n/SemanticLidarSerializer.h"
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#include "carla/sensor/s11n/GBufferUint8Serializer.h"
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#include "carla/sensor/s11n/GBufferFloatSerializer.h"
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// 2. Add a forward-declaration of the sensor here.
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class ACollisionSensor;
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class ADepthCamera;
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class ANormalsCamera;
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class ADVSCamera;
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class AGnssSensor;
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class AInertialMeasurementUnit;
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class ALaneInvasionSensor;
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class AObstacleDetectionSensor;
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class AOpticalFlowCamera;
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class ARadar;
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class ARayCastSemanticLidar;
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class ARayCastLidar;
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class ASceneCaptureCamera;
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class ASemanticSegmentationCamera;
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class AInstanceSegmentationCamera;
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class ARssSensor;
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class FWorldObserver;
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struct FCameraGBufferUint8;
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struct FCameraGBufferFloat;
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namespace carla {
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namespace sensor {
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// 3. Register the sensor and its serializer in the SensorRegistry.
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/// Contains a registry of all the sensors available and allows serializing
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/// and deserializing sensor data for the types registered.
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///
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/// Use s11n::NoopSerializer if the sensor does not send data (sensors that
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/// work only on client-side).
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using SensorRegistry = CompositeSerializer<
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std::pair<ACollisionSensor *, s11n::CollisionEventSerializer>,
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std::pair<ADepthCamera *, s11n::ImageSerializer>,
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std::pair<ANormalsCamera *, s11n::NormalsImageSerializer>,
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std::pair<ADVSCamera *, s11n::DVSEventArraySerializer>,
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std::pair<AGnssSensor *, s11n::GnssSerializer>,
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std::pair<AInertialMeasurementUnit *, s11n::IMUSerializer>,
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std::pair<ALaneInvasionSensor *, s11n::NoopSerializer>,
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std::pair<AObstacleDetectionSensor *, s11n::ObstacleDetectionEventSerializer>,
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std::pair<AOpticalFlowCamera *, s11n::OpticalFlowImageSerializer>,
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std::pair<ARadar *, s11n::RadarSerializer>,
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std::pair<ARayCastSemanticLidar *, s11n::SemanticLidarSerializer>,
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std::pair<ARayCastLidar *, s11n::LidarSerializer>,
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std::pair<ARssSensor *, s11n::NoopSerializer>,
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std::pair<ASceneCaptureCamera *, s11n::ImageSerializer>,
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std::pair<ASemanticSegmentationCamera *, s11n::ImageSerializer>,
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std::pair<AInstanceSegmentationCamera *, s11n::ImageSerializer>,
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std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>,
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std::pair<FCameraGBufferUint8 *, s11n::GBufferUint8Serializer>,
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std::pair<FCameraGBufferFloat *, s11n::GBufferFloatSerializer>
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>;
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} // namespace sensor
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} // namespace carla
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#endif // LIBCARLA_SENSOR_REGISTRY_INCLUDE_H
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#ifdef LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES
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// 4. Include the sensor here.
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#include "Carla/Sensor/CollisionSensor.h"
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#include "Carla/Sensor/DepthCamera.h"
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#include "Carla/Sensor/NormalsCamera.h"
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#include "Carla/Sensor/DVSCamera.h"
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#include "Carla/Sensor/GnssSensor.h"
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#include "Carla/Sensor/InertialMeasurementUnit.h"
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#include "Carla/Sensor/LaneInvasionSensor.h"
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#include "Carla/Sensor/ObstacleDetectionSensor.h"
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#include "Carla/Sensor/OpticalFlowCamera.h"
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#include "Carla/Sensor/Radar.h"
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#include "Carla/Sensor/RayCastLidar.h"
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#include "Carla/Sensor/RayCastSemanticLidar.h"
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#include "Carla/Sensor/RssSensor.h"
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#include "Carla/Sensor/SceneCaptureCamera.h"
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#include "Carla/Sensor/SemanticSegmentationCamera.h"
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#include "Carla/Sensor/InstanceSegmentationCamera.h"
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#include "Carla/Sensor/WorldObserver.h"
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#endif // LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES
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