public NativeArray <DetectionData> _WorldFrame; // Detection data를 저장하기 위한 변수
public void Execute(int i)
{
if (_isSaveIntensity)
{
if (_RaycastHit[i].distance != 0)
{
_cosineIncidence = _RaycastHit[i].normal.x * _RaycastCommand[i].direction.x + _RaycastHit[i].normal.y * _RaycastCommand[i].direction.y + _RaycastHit[i].normal.z * _RaycastCommand[i].direction.z;
}
}
else
{
_cosineIncidence = 0f;
}
_LidarFrame[i] = new DetectionData(_frame, _time, new Vector3(_RaycastHit[i].distance, _RayAngles[i].x, _RayAngles[i].y), _cosineIncidence);
_WorldFrame[i] = new DetectionData(_frame, _time, _RaycastHit[i].point, _cosineIncidence);
}
void SaveIntensity()
{
int i = 0;
float reflectivity;
float cosIncidence;
float intensity;
foreach (RaycastHit hit in m_Result)
{
if (hit.distance != 0)
{
reflectivity = GetReflectivity(hit);
cosIncidence = m_WorldDetectionData[i].Intensity; // Calculate cosIncidence in jobsystem
if (m_isPreciseRadiometricModel)
{
intensity = reflectivity * Math.Abs(cosIncidence) * (float)ComputeIntensity(hit.distance, i);
}
else
{
intensity = reflectivity * Math.Abs(cosIncidence) / hit.distance / hit.distance;
}
if (intensity < 0 || intensity > 255)
{
intensity = 0;
}
// Save DetectionDate with calculated Intensity
m_LidarDetectionData[i] = new DetectionData(frame, m_LidarDetectionData[i].Timestamp, m_LidarDetectionData[i].Position, intensity);
m_WorldDetectionData[i] = new DetectionData(frame, m_WorldDetectionData[i].Timestamp, m_WorldDetectionData[i].Position, intensity);
}
else
{
m_LidarDetectionData[i] = new DetectionData(frame, m_LidarDetectionData[i].Timestamp, m_LidarDetectionData[i].Position, 0);
m_WorldDetectionData[i] = new DetectionData(frame, m_WorldDetectionData[i].Timestamp, m_WorldDetectionData[i].Position, 0);
}
i++;
}
}
