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);
}
void Start()
{
Time.fixedDeltaTime = fixedDeltatime;
m_SensorInfo = new SensorInfo
{
Sensor_id = 1,
Sensor_type = 1,
Time_stamp = DateTime.Now,
Mounting_position = transform.position,
Mounting_rotation = transform.rotation
};
SelectLidarType();
if (m_isPreciseGeometricModel)
{
m_VertOffset = 0.000925f; // for precise geometric simulation
}
stw.Start();
}
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;
}
