void CheckTexture()
{
var targetWidth = -1;
var targetHeight = -1;
if (Distorted)
{
// Distorted + fisheye - render to cubemap, then distort to sensor-sized texture
if (Fisheye)
{
if (renderTarget != null && (!renderTarget.IsCube || !renderTarget.IsValid(CubemapSize, CubemapSize)))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.CreateCube(CubemapSize, CubemapSize, faceMask);
SensorCamera.targetTexture = null;
}
}
// Distorted - render to larger texture, then distort to sensor-sized one
else
{
targetWidth = LensDistortion.ActualWidth;
targetHeight = LensDistortion.ActualHeight;
}
if (DistortedHandle != null && !DistortedHandle.IsValid(Width, Height))
{
DistortedHandle.Release();
DistortedHandle = null;
}
if (DistortedHandle == null)
{
DistortedHandle = SensorRenderTarget.Create2D(Width, Height, GraphicsFormat.R8G8B8A8_SRGB, true);
}
}
else
{
// Undistorted - use only sensor-sized texture
if (DistortedHandle != null)
{
DistortedHandle.Release();
DistortedHandle = null;
}
targetWidth = Width;
targetHeight = Height;
}
if (targetWidth > 0)
{
if (renderTarget != null && !renderTarget.IsValid(targetWidth, targetHeight))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(targetWidth, targetHeight, GraphicsFormat.R8G8B8A8_SRGB, !Distorted);
SensorCamera.targetTexture = renderTarget;
}
}
if (CurrentByteBufferSize != ByteBufferSize)
{
ReadbackPool.Resize(ByteBufferSize);
CurrentByteBufferSize = ByteBufferSize;
}
}
private void Reset()
{
if (PointCloudBuffer != null)
{
PointCloudBuffer.Release();
PointCloudBuffer = null;
}
if (LatitudeAnglesBuffer != null)
{
LatitudeAnglesBuffer.Release();
LatitudeAnglesBuffer = null;
}
UsedMeasurementsPerRotation = (int)(MeasurementsPerRotation * HorizontalAngle / 360f);
DeltaLongitudeAngle = HorizontalAngle / 360f / UsedMeasurementsPerRotation;
StartLongitudeOffset = ForwardAngle / 360f - HorizontalAngle / 720f + 0.5f;
MaxAngle = Mathf.Abs(CenterAngle) + FieldOfView / 2.0f;
float startLatitudeAngle;
// Assuming center of view frustum is horizontal, find the vertical FOV (of view frustum) that can encompass the tilted Lidar FOV.
// "MaxAngle" is half of the vertical FOV of view frustum.
if (VerticalRayAngles.Count == 0)
{
MaxAngle = Mathf.Abs(CenterAngle) + FieldOfView / 2.0f;
MinAngle = Mathf.Abs(CenterAngle) - FieldOfView / 2.0f;
startLatitudeAngle = 90.0f + MaxAngle;
//If the Lidar is tilted up, ignore lower part of the vertical FOV.
if (CenterAngle < 0.0f)
{
startLatitudeAngle -= MaxAngle * 2.0f - FieldOfView;
}
}
else
{
LaserCount = VerticalRayAngles.Count;
startLatitudeAngle = 90.0f - VerticalRayAngles.Min();
var endLatitudeAngle = 90.0f - VerticalRayAngles.Max();
FieldOfView = startLatitudeAngle - endLatitudeAngle;
MaxAngle = Mathf.Max(startLatitudeAngle - 90.0f, 90.0f - endLatitudeAngle);
MinAngle = Mathf.Min(startLatitudeAngle - 90.0f, 90.0f - endLatitudeAngle);
}
CurrentVerticalRayAngles = new List <float>(VerticalRayAngles);
CurrentLaserCount = LaserCount;
CurrentUsedMeasurementsPerRotation = UsedMeasurementsPerRotation;
CurrentHorizontalAngle = HorizontalAngle;
CurrentForwardAngle = ForwardAngle;
CurrentFieldOfView = FieldOfView;
CurrentCenterAngle = CenterAngle;
CurrentMinDistance = MinDistance;
CurrentMaxDistance = MaxDistance;
var latitudeAngles = new float[LaserCount];
if (VerticalRayAngles.Count == 0)
{
if (LaserCount == 1)
{
latitudeAngles[0] = 1f - (90f + CenterAngle) * Mathf.Deg2Rad / Mathf.PI;
}
else
{
var deltaLatitudeAngle = FieldOfView / LaserCount;
var index = 0;
var angle = startLatitudeAngle;
while (index < LaserCount)
{
latitudeAngles[index] = 1f - angle * Mathf.Deg2Rad / Mathf.PI;
index++;
angle -= deltaLatitudeAngle;
}
}
}
else
{
for (var index = 0; index < LaserCount; index++)
{
latitudeAngles[index] = 1f - ((90.0f - VerticalRayAngles[index]) * Mathf.Deg2Rad / Mathf.PI);
}
}
LatitudeAnglesBuffer = new ComputeBuffer(LaserCount, sizeof(float));
LatitudeAnglesBuffer.SetData(latitudeAngles);
var totalCount = LaserCount * UsedMeasurementsPerRotation;
PointCloudBuffer = new ComputeBuffer(totalCount, UnsafeUtility.SizeOf <Vector4>());
Points = new Vector4[totalCount];
ReadbackPool.Resize(totalCount);
if (PointCloudMaterial != null)
{
PointCloudMaterial.SetBuffer(Properties.PointCloud, PointCloudBuffer);
}
}
