small fixes

tier4 · Jul 25, 2023 · 9f7d3d9 · 9f7d3d9
1 parent 48ba964
commit 9f7d3d9
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs
@@ -47,10 +47,13 @@ public struct LidarConfiguration
         [Min(0)] public float maxRange;
 
         /// <summary>
-        /// The horiontal step time offset in milliseconds.
+        /// The vertical step time offset in milliseconds. Thisi s the time between two consecutive lasers in the array.
         /// </summary>
-        [Min(0)] public float horizontalStepTimeOffset;
         [Min(0)] public float verticalStepTimeOffset;
+
+        /// <summary>
+        /// Time offset between two consecutive firings of the whole array.
+        /// </summary>
         [Min(0)] public float rechargeTimeOffset;
 
         /// <summary>

diff --git a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
@@ -182,6 +182,7 @@ private void ApplyConfiguration(LidarConfiguration newConfig)
             var angularNoiseType = newConfig.noiseParams.angularNoiseType;
             rglGraphLidar.SetActive(noiseLidarRayNodeId, applyAngularGaussianNoise && angularNoiseType == AngularNoiseType.RayBased);
             rglGraphLidar.SetActive(noiseHitpointNodeId, applyAngularGaussianNoise && angularNoiseType == AngularNoiseType.HitpointBased);
+            rglGraphLidar.SetActive(lidarVelocityDistortionNodeId, applyVelocityDistortion);
         }
 
         public void FixedUpdate()
@@ -250,7 +251,8 @@ public void Capture()
             rglSubgraphToLidarFrame.UpdateNodePointsTransform(toLidarFrameNodeId, lidarPose.inverse);
 
             // Set lidar velocity
-            rglGraphLidar.UpdateNodeRaysVelocityDistortion(lidarVelocityDistortionNodeId, deltaTranslation, deltaRotation);
+            if(applyVelocityDistortion)
+                rglGraphLidar.UpdateNodeRaysVelocityDistortion(lidarVelocityDistortionNodeId, deltaTranslation, deltaRotation);
 
             rglGraphLidar.Run();