示例#1
0
            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);
            }
示例#2
0
        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++;
            }
        }