public void Set_preference(SensorInfo sensor_info, LidarConfig lidar_config)
{
//sensor setting
m_SensorInfo = sensor_info;
m_LidarConfig = lidar_config;
//Lidar emulation variable setting
m_RayChannelNum = lidar_config.Channels;
m_PulseNumPerUpdate = (int)Math.Round(lidar_config.Firing_rate * fixedDeltatime);
m_HorzStartAngle = 0f;
m_VertInterval = lidar_config.Vertical_fov / (lidar_config.Channels - 1);
m_VertStartAngle = -(lidar_config.Vertical_center_angle + (lidar_config.Vertical_fov / 2));
m_HorzInterval = lidar_config.Horizontal_fov / (lidar_config.Firing_rate / lidar_config.Refresh_rate);
m_MaxDistance = lidar_config.Range;
m_HorzRotationLimit = lidar_config.Horizontal_fov * (lidar_config.Refresh_rate * fixedDeltatime);
// Parallel Computing setting
m_PointCount = m_PulseNumPerUpdate * m_RayChannelNum;
m_Result = new NativeArray <RaycastHit>(m_PointCount, Allocator.Persistent);
m_RaycastCommand = new NativeArray <RaycastCommand>(m_PointCount, Allocator.Persistent);
m_RayAngles = new NativeArray <Vector2>(m_PointCount, Allocator.Persistent);
m_Buffer = new ComputeBuffer(m_PointCount, 16);
m_LidarDetectionData = new NativeArray <DetectionData>(m_PointCount, Allocator.Persistent);
m_WorldDetectionData = new NativeArray <DetectionData>(m_PointCount, Allocator.Persistent);
}
public LidarSensorData(SensorInfo sensor_info, LidarConfig lidar_config, IEnumerable <DetectionData> detection_data)
{
this.Sensor_info = sensor_info;
this.Lidar_config = lidar_config;
this.Detection_data = detection_data;
}
void SelectLidarType()
{
if (m_SensorID == 1) // VLP-16
{
if (m_isDensePointCloud)
{
m_LidarConfig = new LidarConfig
{
Refresh_rate = 10,
Channels = 16,
Range = 100f,
Horizontal_fov = 360f,
Vertical_fov = 30f,
Vertical_center_angle = 0f,
Firing_rate = 18000
};
}
else
{
m_LidarConfig = new LidarConfig
{
Refresh_rate = 10,
Channels = 16,
Range = 100f,
Horizontal_fov = 360f,
Vertical_fov = 30f,
Vertical_center_angle = 0f,
Firing_rate = 1000
};
}
sensor_type = "VLP-16";
UnityEngine.Debug.Log("The selected lidar sensor is " + sensor_type);
}
else if (m_SensorID == 2) // HDL-32E
{
if (m_isDensePointCloud)
{
m_LidarConfig = new LidarConfig
{
Refresh_rate = 10,
Channels = 32,
Range = 100f,
Horizontal_fov = 360f,
Vertical_fov = 41.33f,
Vertical_center_angle = 10f,
Firing_rate = 18000
};
}
else
{
m_LidarConfig = new LidarConfig
{
Refresh_rate = 10,
Channels = 32,
Range = 100f,
Horizontal_fov = 360f,
Vertical_fov = 41.33f,
Vertical_center_angle = 10f,
Firing_rate = 1000
};
}
sensor_type = "HDL-32E";
UnityEngine.Debug.Log("The selected lidar sensor is HDL-32E");
}
#region Logging part
UnityEngine.Debug.Log("< Configuration > " + "\n"
+ "Refresh_rate : " + m_LidarConfig.Refresh_rate + "\n"
+ "Channel : " + m_LidarConfig.Channels + "\n"
+ "Range : " + m_LidarConfig.Range + "\n"
+ "Horizontal Field of View : " + m_LidarConfig.Horizontal_fov + "\n"
+ "Vertical Field of View : " + m_LidarConfig.Vertical_fov + "\n"
+ "Firing rate : " + m_LidarConfig.Firing_rate + "\n");
Set_preference(m_SensorInfo, m_LidarConfig);
#endregion
}
