public bool Save(string path)
{
int rotationCount = Mathf.CeilToInt(360.0f / HorizontalAngleLimit);
float minAngle = 360.0f / CurrentMeasurementsPerRotation;
int count = (int)(HorizontalAngleLimit / minAngle);
float angle = HorizontalAngleLimit / 2.0f;
var active = new ReadRequest[rotationCount];
var cmd = CommandBufferPool.Get();
try
{
for (int i = 0; i < rotationCount; i++)
{
var rotation = Quaternion.AngleAxis(angle, Vector3.up);
SensorCamera.transform.localRotation = rotation;
BeginReadRequest(count, ref active[i]);
angle += HorizontalAngleLimit;
if (angle >= 360.0f)
{
angle -= 360.0f;
}
}
for (int i = 0; i < rotationCount; i++)
{
EndReadRequest(cmd, active[i]);
}
}
finally
{
HDRPUtilities.ExecuteAndClearCommandBuffer(cmd);
CommandBufferPool.Release(cmd);
Array.ForEach(active, req => AvailableRenderTextures.Push(req.TextureSet));
}
PointCloudBuffer.GetData(Points);
var worldToLocal = LidarTransform;
if (Compensated)
{
worldToLocal = worldToLocal * transform.worldToLocalMatrix;
}
try
{
using (var writer = new PcdWriter(path))
{
for (int p = 0; p < Points.Length; p++)
{
var point = Points[p];
if (point != Vector4.zero)
{
writer.Write(worldToLocal.MultiplyPoint3x4(point), point.w);
}
}
;
}
return(true);
}
catch (Exception ex)
{
Debug.LogException(ex);
return(false);
}
}
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);
}
}
public bool Save(string path)
{
int rotationCount = Mathf.CeilToInt(360.0f / HorizontalAngleLimit);
float minAngle = 360.0f / CurrentMeasurementsPerRotation;
int count = (int)(HorizontalAngleLimit / minAngle);
float angle = HorizontalAngleLimit / 2.0f;
var jobs = new NativeArray <JobHandle>(rotationCount, Allocator.Persistent);
var active = new ReadRequest[rotationCount];
try
{
for (int i = 0; i < rotationCount; i++)
{
var rotation = Quaternion.AngleAxis(angle, Vector3.up);
Camera.transform.localRotation = rotation;
if (BeginReadRequest(count, angle, HorizontalAngleLimit, ref active[i]))
{
active[i].Readback = AsyncGPUReadback.Request(active[i].RenderTexture, 0);
}
angle += HorizontalAngleLimit;
if (angle >= 360.0f)
{
angle -= 360.0f;
}
}
for (int i = 0; i < rotationCount; i++)
{
active[i].Readback.WaitForCompletion();
jobs[i] = EndReadRequest(active[i], active[i].Readback.GetData <byte>());
}
JobHandle.CompleteAll(jobs);
}
finally
{
Array.ForEach(active, req => AvailableRenderTextures.Push(req.RenderTexture));
jobs.Dispose();
}
var worldToLocal = LidarTransform;
if (Compensated)
{
worldToLocal = worldToLocal * transform.worldToLocalMatrix;
}
try
{
using (var writer = new PcdWriter(path))
{
for (int p = 0; p < Points.Length; p++)
{
var point = Points[p];
if (point != Vector4.zero)
{
writer.Write(worldToLocal.MultiplyPoint3x4(point), point.w);
}
}
;
}
return(true);
}
catch (Exception ex)
{
Debug.LogException(ex);
return(false);
}
}
private void Generate(MapTrafficLane[] lanes)
{
var sensorName = availableGeneratorTypes[GeneratorTypeIndex].Name;
var path = $"Assets/External/Sensors/{sensorName}/{sensorName}.prefab";
var prefab = AssetDatabase.LoadAssetAtPath <GameObject>(path);
var go = Instantiate(prefab);
var generator = go.GetComponent <IPointCloudGenerator>();
generator.ApplySettings(currentTemplate);
int mapLayerMask = LayerMask.GetMask("Default", "Obstacle");
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 pos = p0 + delta * c + hit.normal * Height;
var points = generator.GeneratePoints(pos);
for (int p = 0; p < points.Length; p++)
{
var point = points[p];
if (point != Vector4.zero && UnityEngine.Random.Range(0f, 1f) < Ratio)
{
var pt = point;
writer.Write(new Vector3(pt.z, -pt.x, pt.y), point.w); // Converting to right-handed xyz
}
}
;
}
}
p0 = p1;
}
}
}
}
}
finally
{
EditorUtility.ClearProgressBar();
generator.Cleanup();
DestroyImmediate(go);
}
}
