private void generatePCDOperations()
{
Button cameraButton = this.transform.Find("Panel").Find("ButtonCameraMode").GetComponent<Button>();
if (!hasLaserScanner)
{
cameraMode = CameraMode.None;
alert.closeAlertDialog();
cameraButton = this.transform.Find("Panel").Find("ButtonCameraMode").GetComponent<Button>();
cameraButton.interactable = true;
if (carController != null)
{
carController.wheelColliders[0].brakeTorque = 0;
carController.wheelColliders[1].brakeTorque = 0;
}
controllerObject.SetActive(true);
return;
}
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
//This is the Game Object contains transform of the camera Van
liDAROrigin = new GameObject();
//This is the Game Object contains transform information of the LiDAR device wrt Camera Van
GameObject liDAR = new GameObject();
liDAR.transform.position = laserScanner.position;
Quaternion liDARquat = new Quaternion();
liDARquat.eulerAngles = laserScanner.rotation;
liDAR.transform.rotation = liDARquat;
//liDAR and Camera Van is Linked
liDAR.transform.SetParent(liDAROrigin.transform);
Directory.CreateDirectory(saveFolder + "\\PCD");
int verticalBeamCount = (int)(laserScanner.verticalFOV / laserScanner.verticalResolution) +1;
int horizontalBeamCount = (int)(laserScanner.horizontalFOV / laserScanner.horizontalResolution) +1;
for (int k = 0 ; k < recordLog.laserLog.laserEntries.Count ; k++)
{
liDAROrigin.transform.position = recordLog.laserLog.laserEntries[k].position;
Quaternion quat = new Quaternion();
quat.eulerAngles = recordLog.laserLog.laserEntries[k].rotation;
liDAROrigin.transform.localRotation = quat;
RaycastHit hit = new RaycastHit();
List<PCDrow> PCDList = new List<PCDrow>();
Vector3 laserDirection;
for(int i = 0 ; i < verticalBeamCount ; i++)
{
Vector3 vertlaserDirection = Quaternion.AngleAxis(laserScanner.verticalFOV / 2 - i * laserScanner.verticalResolution, -liDAR.transform.right) * liDAR.transform.forward;
for(int j = 0 ; j < horizontalBeamCount ; j++)
{
laserDirection = Quaternion.AngleAxis(-laserScanner.horizontalFOV / 2 + j * laserScanner.horizontalResolution, liDAR.transform.up) * vertlaserDirection;
//FOR DEBUG
//Debug.DrawRay(liDAR.transform.position, laserDirection, new Color(255, 0, 0), 120);
bool isHit = Physics.Raycast(liDAR.transform.position, laserDirection, out hit,laserScanner.maxDistance);
PCDrow row = new PCDrow();
if (isHit && (hit.distance > laserScanner.minDistance))
{
row.position = hit.point;
row.distance = hit.distance;
}
else
{
row.position = new Vector3();
row.distance = 0.0f;
}
PCDList.Add(row);
}
}
PCDGenerator(saveFolder + "\\PCD\\frame_" + k.ToString() + ".pcd" ,PCDList, horizontalBeamCount,verticalBeamCount);
//FOR DEBUG
//cameraMode = CameraMode.None;
//alert.closeAlertDialog();
//return;
}
stopwatch.Stop();
Debug.Log("<color=blue>PCD FILE GENERATION TIME</color>" + stopwatch.ElapsedMilliseconds);
cameraButton.interactable = true;
if (carController != null)
{
carController.wheelColliders[0].brakeTorque = 0;
carController.wheelColliders[1].brakeTorque = 0;
}
controllerObject.SetActive(true);
cameraMode = CameraMode.None;
alert.closeAlertDialog();
}
private void generatePCDOperations()
{
Button cameraButton = this.transform.Find("Panel").Find("ButtonCameraMode").GetComponent <Button>();
if (!hasLaserScanner)
{
cameraMode = CameraMode.None;
alert.closeAlertDialog();
cameraButton = this.transform.Find("Panel").Find("ButtonCameraMode").GetComponent <Button>();
cameraButton.interactable = true;
if (carController != null)
{
carController.wheelColliders[0].brakeTorque = 0;
carController.wheelColliders[1].brakeTorque = 0;
}
controllerObject.SetActive(true);
return;
}
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
//This is the Game Object contains transform of the camera Van
liDAROrigin = new GameObject();
//This is the Game Object contains transform information of the LiDAR device wrt Camera Van
GameObject liDAR = new GameObject();
liDAR.transform.position = laserScanner.position;
Quaternion liDARquat = new Quaternion();
liDARquat.eulerAngles = laserScanner.rotation;
liDAR.transform.rotation = liDARquat;
//liDAR and Camera Van is Linked
liDAR.transform.SetParent(liDAROrigin.transform);
Directory.CreateDirectory(saveFolder + "\\PCD");
int verticalBeamCount = (int)(laserScanner.verticalFOV / laserScanner.verticalResolution) + 1;
int horizontalBeamCount = (int)(laserScanner.horizontalFOV / laserScanner.horizontalResolution) + 1;
for (int k = 0; k < recordLog.laserLog.laserEntries.Count; k++)
{
liDAROrigin.transform.position = recordLog.laserLog.laserEntries[k].position;
Quaternion quat = new Quaternion();
quat.eulerAngles = recordLog.laserLog.laserEntries[k].rotation;
liDAROrigin.transform.localRotation = quat;
RaycastHit hit = new RaycastHit();
List <PCDrow> PCDList = new List <PCDrow>();
Vector3 laserDirection;
for (int i = 0; i < verticalBeamCount; i++)
{
Vector3 vertlaserDirection = Quaternion.AngleAxis(laserScanner.verticalFOV / 2 - i * laserScanner.verticalResolution, -liDAR.transform.right) * liDAR.transform.forward;
for (int j = 0; j < horizontalBeamCount; j++)
{
laserDirection = Quaternion.AngleAxis(-laserScanner.horizontalFOV / 2 + j * laserScanner.horizontalResolution, liDAR.transform.up) * vertlaserDirection;
//FOR DEBUG
//Debug.DrawRay(liDAR.transform.position, laserDirection, new Color(255, 0, 0), 120);
bool isHit = Physics.Raycast(liDAR.transform.position, laserDirection, out hit, laserScanner.maxDistance);
PCDrow row = new PCDrow();
if (isHit && (hit.distance > laserScanner.minDistance))
{
row.position = hit.point;
row.distance = hit.distance;
}
else
{
row.position = new Vector3();
row.distance = 0.0f;
}
PCDList.Add(row);
}
}
PCDGenerator(saveFolder + "\\PCD\\frame_" + k.ToString() + ".pcd", PCDList, horizontalBeamCount, verticalBeamCount);
//FOR DEBUG
//cameraMode = CameraMode.None;
//alert.closeAlertDialog();
//return;
}
stopwatch.Stop();
Debug.Log("<color=blue>PCD FILE GENERATION TIME</color>" + stopwatch.ElapsedMilliseconds);
cameraButton.interactable = true;
if (carController != null)
{
carController.wheelColliders[0].brakeTorque = 0;
carController.wheelColliders[1].brakeTorque = 0;
}
controllerObject.SetActive(true);
cameraMode = CameraMode.None;
alert.closeAlertDialog();
}