void Awake()
{
pointArr = new LidarPointArray();
pointArr.Init(360 / degPerSweepInc * numSweepsLevels);
int v = 0;
foreach (string layerName in layerMaskNames)
{
int layer = LayerMask.NameToLayer(layerName);
v |= 1 << layer;
}
collMask |= ~v;
}
public void SetConfig(float offset_x, float offset_y, float offset_z, float rot_x,
int _degPerSweepInc, float _degAngDown, float _degAngDelta, float _maxRange, float _noise, int _numSweepsLevels)
{
degPerSweepInc = _degPerSweepInc;
degAngDown = _degAngDown;
degAngDelta = _degAngDelta;
maxRange = _maxRange;
noise = _noise;
numSweepsLevels = _numSweepsLevels;
if (offset_x != 0.0f || offset_y != 0.0f || offset_z != 0.0f)
{
transform.localPosition = new Vector3(offset_x, offset_y, offset_z);
}
if (rot_x != 0.0f)
{
transform.localEulerAngles = new Vector3(rot_x, 0.0f, 0.0f);
}
pointArr = new LidarPointArray();
pointArr.Init(360 / degPerSweepInc * numSweepsLevels);
}
public LidarPointArray GetOutput()
{
pointArr = new LidarPointArray();
pointArr.Init(360 / degPerSweepInc * numSweepsLevels);
pointArr.lidarPos = new V3(transform.position);
pointArr.lidarOrientation = new V3(transform.rotation.eulerAngles);
Ray ray = new Ray();
ray.origin = this.transform.position;
ray.direction = this.transform.forward;
//start out pointing a bit down.
Quaternion rotDown = Quaternion.AngleAxis(degAngDown, transform.right);
ray.direction = rotDown * ray.direction;
int numSweep = 360 / degPerSweepInc;
Quaternion rotSide = Quaternion.AngleAxis(degPerSweepInc, transform.up);
Quaternion rotUp = Quaternion.AngleAxis(degAngDelta, transform.right);
RaycastHit hit;
//Sample the output texture to create rays.
int iP = 0;
float rx = 0.0f;
float ry = 0.0f;
for (int iS = 0; iS < numSweepsLevels; iS++)
{
for (int iA = 0; iA < numSweep; iA++)
{
if (Physics.Raycast(ray, out hit, maxRange, collMask))
{
//sample that ray at the depth given by the pixel.
Vector3 pos = ray.GetPoint(hit.distance);
//make points relative to my pos.
pos = pos - transform.position;
//shouldn't hit this unless user is messing around in the interface with things running.
if (iP >= pointArr.points.Length)
{
break;
}
float noiseX = Mathf.PerlinNoise(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
float noiseY = Mathf.PerlinNoise(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
float noiseZ = Mathf.PerlinNoise(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
pos.x += noise * noiseX;
pos.y += noise * noiseY;
pos.z += noise * noiseZ;
//set iPoint
pointArr.points[iP] = new LidarPoint(pos, rx, ry);
ray.direction = rotSide * ray.direction;
iP++;
}
rx += degPerSweepInc;
}
ray.direction = rotUp * ray.direction;
ry += degAngDelta;
rx = 0.0f;
}
return(pointArr);
}
public LidarPointArray GetOutput()
{
int numSweep = (int)(360 / degPerSweepInc);
pointArr = new LidarPointArray();
pointArr.Init(numSweep * numSweepsLevels);
Ray ray = new Ray(transform.position, transform.forward);
RaycastHit hit;
// Vertical rotation
Quaternion rotUp = Quaternion.AngleAxis(degAngDelta, transform.right);
// Horizontal rotation
Quaternion rotSide = Quaternion.AngleAxis(degPerSweepInc, transform.up);
//Sample the output texture to create rays.
int iP = 0;
float rx = 0.0f;
float ry = 0.0f;
for (int iS = 0; iS < numSweepsLevels; iS++)
{
// reset the orientation of the ray
Quaternion rotDown = Quaternion.AngleAxis(degAngDown + iS * degAngDelta, transform.right);
ray.direction = rotDown * transform.forward;
rx = 0.0f;
for (int iA = 0; iA < numSweep; iA++)
{
if (Physics.Raycast(ray, out hit, maxRange, collMask))
{
//sample that ray at the depth given by the pixel.
Vector3 pos = hit.point - transform.position;
float distance = hit.distance;
//shouldn't hit this unless user is messing around in the interface with things running.
if (iP >= pointArr.points.Length)
{
break;
}
// add some noise to the point position
float noiseX = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
float noiseY = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
float noiseZ = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
pos.x += noise * noiseX;
pos.y += noise * noiseY;
pos.z += noise * noiseZ;
//set iPoint
pointArr.points[iP] = new LidarPoint(pos, distance, rx, ry);
iP++;
}
ray.direction = rotSide * ray.direction;
rx += degPerSweepInc;
}
ray.direction = rotUp * ray.direction;
ry += degAngDelta;
}
return(pointArr);
}
void Awake()
{
pointArr = new LidarPointArray();
pointArr.Init(360 / degPerSweepInc * numSweepsLevels);
}