void Generate(MapLane[] lanes)
{
var settings = EditorSettings.Load();
var lidar = Instantiate(settings.LidarSensor);
lidar.Init();
lidar.TemplateIndex = LidarTemplate;
lidar.LaserCount = LidarLaserCount;
lidar.MinDistance = LidarMinDistance;
lidar.MaxDistance = LidarMaxDistance;
lidar.RotationFrequency = LidarRotationFrequency;
lidar.RotationFrequency = LidarRotationFrequency;
lidar.MeasurementsPerRotation = LidarMeasurementsPerRotation;
lidar.RotationFrequency = LidarRotationFrequency;
lidar.FieldOfView = LidarFieldOfView;
lidar.CenterAngle = LidarCenterAngle;
lidar.ApplyTemplate();
lidar.Reset();
int mapLayerMask = LayerMask.GetMask("Default");
try
{
using (var writer = new PcdWriter(FileName))
{
for (int i = 0; i < lanes.Length; i++)
{
var lane = lanes[i];
float progress = (float)i / (lanes.Length - 1);
var size = EditorUtility.FormatBytes(writer.Size);
if (EditorUtility.DisplayCancelableProgressBar("Generating Point Cloud...", $"{writer.Count:N0} points ({size})", progress))
{
return;
}
var positions = lane.mapLocalPositions;
if (positions.Count > 1)
{
Vector3 p0 = lane.transform.TransformPoint(positions[0]);
Vector3 p1;
foreach (var next in positions.Skip(1))
{
p1 = lane.transform.TransformPoint(next);
RaycastHit hit;
if (Physics.Raycast(p0 + Vector3.up * LidarMaxDistance, Vector2.down, out hit, float.MaxValue, mapLayerMask))
{
float length = Vector3.Distance(p0, p1);
int capturesPerSegment = (int)(Mathf.Max(Distance, length) / Distance);
var delta = (p1 - p0) / capturesPerSegment;
for (int c = 0; c < capturesPerSegment; c++)
{
var position = p0 + delta * c + hit.normal * Height;
lidar.transform.position = position;
var points = lidar.Capture();
for (int p = 0; p < points.Length; p++)
{
var point = points[p];
if (point != Vector4.zero && Random.value < Ratio)
{
var pt = point;
writer.Write(new Vector3(pt.x, pt.z, pt.y), point.w);
}
}
;
}
}
p0 = p1;
}
}
}
}
}
finally
{
EditorUtility.ClearProgressBar();
lidar.OnDestroy();
DestroyImmediate(lidar.gameObject);
}
}
