void Start()
{
Application.targetFrameRate = 200;
Sensor = GetComponentInChildren <GPULidar>();
depthCam = GetComponentInChildren <Camera>();
// Calculation of FOV
verticalFOV = HigherAngle - LowerAngle;
m_VerticalAngularResolution = verticalFOV / (Channels - 1f);
horizontalFOV = Time.fixedDeltaTime * 360.0f * RotateFrequency / SuperSample;
// Calculation of the Camera Projection Mat
Matrix4x4 projMat = depthCam.projectionMatrix;
float horizontalMval = 1.0f / (Mathf.Tan((horizontalFOV / 2.0f) * Mathf.Deg2Rad));
float verticalMval = 1.0f / (Mathf.Tan((verticalFOV / 2.0f) * Mathf.Deg2Rad));
projMat[0, 0] = horizontalMval;
projMat[1, 1] = verticalMval;
depthCam.projectionMatrix = projMat;
// target Texture size calculation
m_ColumnsPerPhysStep = Mathf.RoundToInt(Time.fixedDeltaTime * RotationAngle * RotateFrequency / AngularResolution) / SuperSample;
m_ResWidth = m_ColumnsPerPhysStep;
m_ResHeight = Channels;
depthCam.targetTexture = new RenderTexture(m_ResWidth, m_ResHeight, 1, RenderTextureFormat.RFloat, RenderTextureReadWrite.Default);
RangesSamples = new Texture2D(m_ResWidth, m_ResHeight, TextureFormat.RGBAFloat, false);
depthCam.farClipPlane = MeasurementRange;
depthCam.nearClipPlane = MinMeasurementRange;
// initial direction of the depthCam scan window center
cameraRotationAngle = horizontalFOV / 2.0f;
Sensor.transform.localEulerAngles = new Vector3(-(HigherAngle + LowerAngle) / 2.0f, cameraRotationAngle, 0);
// activtion of the ICD interface
if (sendDataOnICD)
{
vel16ICDinterface = new VelodyneWrapper(ICD_ConfigFile, true);
}
if (UseThreading)
{
int bar1ID = iSCentralDispatch.DispatchNewThread("ProcessVelodyne", ProcessVelodyneThread);
iSCentralDispatch.SetPriorityForThread(bar1ID, iSCDThreadPriority.VeryHigh);
iSCentralDispatch.SetTargetFramerate(100);
}
}
void Awake()
{
Sensor = GetComponentInChildren <GPULidar>();
depthCam = Sensor.GetComponent <Camera>();
// Calculation of FOV
verticalFOV = HigherAngle - LowerAngle;
verticalAngularResolution = verticalFOV / (Channels - 1f);
horizontalFOV = Time.fixedDeltaTime * RotationAngle * RotateFrequency / SuperSample;
// Calculation of the Camera Projection Mat
Matrix4x4 projMat = depthCam.projectionMatrix;
float horizontalMval = 1.0f / (Mathf.Tan((horizontalFOV / 2.0f) * Mathf.Deg2Rad));
float verticalMval = 1.0f / (Mathf.Tan((verticalFOV / 2.0f) * Mathf.Deg2Rad));
projMat[0, 0] = horizontalMval;
projMat[1, 1] = verticalMval;
depthCam.projectionMatrix = projMat;
// target Texture size calculation
ColumnsPerPhysStep = Mathf.RoundToInt(horizontalFOV / AngularResolution);
ResWidth = ColumnsPerPhysStep;
ResHeight = Channels;
depthCam.targetTexture = new RenderTexture(ResWidth, ResHeight, 1, RenderTextureFormat.RFloat, RenderTextureReadWrite.Default);
RangesSamples = new Texture2D(ResWidth, ResHeight, TextureFormat.RGBAFloat, false);
depthCam.farClipPlane = MeasurementRange;
depthCam.nearClipPlane = MinMeasurementRange;
// initial direction of the depthCam scan window center
cameraRotationAngle = horizontalFOV / 2.0f;
Sensor.transform.localEulerAngles = new Vector3(-(HigherAngle + LowerAngle) / 2.0f, cameraRotationAngle, 0);
// activtion of the ICD interface
if (sendDataOnICD)
{
vel16ICDinterface = new VelodyneWrapper(ICD_ConfigFile, true);
}
}
