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add data for velodyne 16 and 32
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@PiotrMrozik
PiotrMrozik committed Jul 27, 2023
1 parent cdeef9b commit cb8cdcc
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Showing 2 changed files with 48 additions and 51 deletions.
96 changes: 48 additions & 48 deletions Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -160,22 +160,22 @@ public static class LaserArrayLibrary
centerOfMeasurementHorizontalLinearOffsetMm = 0.0f,
lasers = new[]
{
new Laser {verticalAngularOffsetDeg = +15.0f, verticalLinearOffsetMm = +11.2f, ringId = 1},
new Laser {verticalAngularOffsetDeg = -1.0f, verticalLinearOffsetMm = -0.7f, ringId = 9},
new Laser {verticalAngularOffsetDeg = +13.0f, verticalLinearOffsetMm = +9.7f, ringId = 2},
new Laser {verticalAngularOffsetDeg = -3.0f, verticalLinearOffsetMm = -2.2f, ringId = 10},
new Laser {verticalAngularOffsetDeg = +11.0f, verticalLinearOffsetMm = +8.1f, ringId = 3},
new Laser {verticalAngularOffsetDeg = -5.0f, verticalLinearOffsetMm = -3.7f, ringId = 11},
new Laser {verticalAngularOffsetDeg = +9.0f, verticalLinearOffsetMm = +6.6f, ringId = 4},
new Laser {verticalAngularOffsetDeg = -7.0f, verticalLinearOffsetMm = -5.1f, ringId = 12},
new Laser {verticalAngularOffsetDeg = +7.0f, verticalLinearOffsetMm = +5.1f, ringId = 5},
new Laser {verticalAngularOffsetDeg = -9.0f, verticalLinearOffsetMm = -6.6f, ringId = 13},
new Laser {verticalAngularOffsetDeg = +5.0f, verticalLinearOffsetMm = +3.7f, ringId = 6},
new Laser {verticalAngularOffsetDeg = -11.0f, verticalLinearOffsetMm = -8.1f, ringId = 14},
new Laser {verticalAngularOffsetDeg = +3.0f, verticalLinearOffsetMm = +2.2f, ringId = 7},
new Laser {verticalAngularOffsetDeg = -13.0f, verticalLinearOffsetMm = -9.7f, ringId = 15},
new Laser {verticalAngularOffsetDeg = +1.0f, verticalLinearOffsetMm = +0.7f, ringId = 8},
new Laser {verticalAngularOffsetDeg = -15.0f, verticalLinearOffsetMm = -11.2f, ringId = 16},
new Laser {verticalAngularOffsetDeg = +15.0f, verticalLinearOffsetMm = +11.2f, ringId = 1, timeOffset = 0.0f },
new Laser {verticalAngularOffsetDeg = -1.0f, verticalLinearOffsetMm = -0.7f, ringId = 9, timeOffset = 0.002304f },
new Laser {verticalAngularOffsetDeg = +13.0f, verticalLinearOffsetMm = +9.7f, ringId = 2, timeOffset = 0.004608f },
new Laser {verticalAngularOffsetDeg = -3.0f, verticalLinearOffsetMm = -2.2f, ringId = 10, timeOffset = 0.006912f },
new Laser {verticalAngularOffsetDeg = +11.0f, verticalLinearOffsetMm = +8.1f, ringId = 3, timeOffset = 0.009216f },
new Laser {verticalAngularOffsetDeg = -5.0f, verticalLinearOffsetMm = -3.7f, ringId = 11, timeOffset = 0.011520f },
new Laser {verticalAngularOffsetDeg = +9.0f, verticalLinearOffsetMm = +6.6f, ringId = 4, timeOffset = 0.013824f },
new Laser {verticalAngularOffsetDeg = -7.0f, verticalLinearOffsetMm = -5.1f, ringId = 12, timeOffset = 0.016128f },
new Laser {verticalAngularOffsetDeg = +7.0f, verticalLinearOffsetMm = +5.1f, ringId = 5, timeOffset = 0.018432f },
new Laser {verticalAngularOffsetDeg = -9.0f, verticalLinearOffsetMm = -6.6f, ringId = 13, timeOffset = 0.020736f },
new Laser {verticalAngularOffsetDeg = +5.0f, verticalLinearOffsetMm = +3.7f, ringId = 6, timeOffset = 0.023040f },
new Laser {verticalAngularOffsetDeg = -11.0f, verticalLinearOffsetMm = -8.1f, ringId = 14, timeOffset = 0.025344f },
new Laser {verticalAngularOffsetDeg = +3.0f, verticalLinearOffsetMm = +2.2f, ringId = 7, timeOffset = 0.027648f },
new Laser {verticalAngularOffsetDeg = -13.0f, verticalLinearOffsetMm = -9.7f, ringId = 15, timeOffset = 0.029952f },
new Laser {verticalAngularOffsetDeg = +1.0f, verticalLinearOffsetMm = +0.7f, ringId = 8, timeOffset = 0.032256f },
new Laser {verticalAngularOffsetDeg = -15.0f, verticalLinearOffsetMm = -11.2f, ringId = 16, timeOffset = 0.034560f },
}
};

Expand All @@ -186,38 +186,38 @@ public static class LaserArrayLibrary
centerOfMeasurementHorizontalLinearOffsetMm = 42.4f,
lasers = new[]
{
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 25f, ringId = 1},
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 1f, ringId = 2},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 1.667f, ringId = 3},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 15.639f, ringId = 4},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 11.31f, ringId = 5},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 0f, ringId = 6},
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 0.667f, ringId = 7},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 8.843f, ringId = 8},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 7.254f, ringId = 9},
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = -0.333f, ringId = 10},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 0.333f, ringId = 11},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 6.148f, ringId = 12},
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 5.333f, ringId = 13},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -1.333f, ringId = 14},
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = -0.667f, ringId = 15},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 4f, ringId = 16},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 4.667f, ringId = 17},
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = -1.667f, ringId = 18},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -1f, ringId = 19},
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 3.667f, ringId = 20},
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 3.333f, ringId = 21},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -3.333f, ringId = 22},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -2.333f, ringId = 23},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 2.667f, ringId = 24},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 3f, ringId = 25},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -7f, ringId = 26},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -4.667f, ringId = 27},
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 2.333f, ringId = 28},
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 2f, ringId = 29},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -15f, ringId = 30},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -10.333f, ringId = 31},
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 1.333f, ringId = 32},
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 25f, ringId = 1, timeOffset = 0.027648f}, //LaserID = 0
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 1f, ringId = 2, timeOffset = 0.002304f}, //LaserID = 1
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 1.667f, ringId = 3, timeOffset = 0.018432f}, //LaserID = 2
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 15.639f, ringId = 4, timeOffset = 0.006912f}, //LaserID = 3
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 11.31f, ringId = 5, timeOffset = 0.032256f}, //LaserID = 4
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 0f, ringId = 6, timeOffset = 0.011520f}, //LaserID = 5
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 0.667f, ringId = 7, timeOffset = 0.023040f}, //LaserID = 6
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 8.843f, ringId = 8, timeOffset = 0.016128f}, //LaserID = 7
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 7.254f, ringId = 9, timeOffset = 0.013824f }, //LaserID = 8
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = -0.333f, ringId = 10, timeOffset = 0.004608f}, //LaserID = 9
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 0.333f, ringId = 11, timeOffset = 0.020736f}, //LaserID = 10
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 6.148f, ringId = 12, timeOffset = 0.025344f}, //LaserID = 11
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 5.333f, ringId = 13, timeOffset = 0.009216f}, //LaserID = 12
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -1.333f, ringId = 14, timeOffset = 0.0f}, //LaserID = 13
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = -0.667f, ringId = 15, timeOffset = 0.029952f}, //LaserID = 14
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 4f, ringId = 16, timeOffset = 0.034560f}, //LaserID = 15
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 4.667f, ringId = 17, timeOffset = 0.011520f}, //LaserID = 16
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = -1.667f, ringId = 18, timeOffset = 0.002304f}, //LaserID = 17
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -1f, ringId = 19, timeOffset = 0.027648f}, //LaserID = 18
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 3.667f, ringId = 20, timeOffset = 0.032256f}, //LaserID = 19
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 3.333f, ringId = 21, timeOffset = 0.016128f}, //LaserID = 20
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -3.333f, ringId = 22, timeOffset = 0.006912f}, //LaserID = 21
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -2.333f, ringId = 23, timeOffset = 0.018432f}, //LaserID = 22
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 2.667f, ringId = 24, timeOffset = 0.023040f}, //LaserID = 23
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = 3f, ringId = 25, timeOffset = 0.025344f}, //LaserID = 24
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -7f, ringId = 26, timeOffset = 0.013824f}, //LaserID = 25
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -4.667f, ringId = 27, timeOffset = 0.034560f}, //LaserID = 26
new Laser {horizontalAngularOffsetDeg = -4.2f, verticalAngularOffsetDeg = 2.333f, ringId = 28, timeOffset = 0.009216f}, //LaserID = 27
new Laser {horizontalAngularOffsetDeg = 4.2f, verticalAngularOffsetDeg = 2f, ringId = 29, timeOffset = 0.020736f}, //LaserID = 28
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = -15f, ringId = 30, timeOffset = 0.004608f}, //LaserID = 29
new Laser {horizontalAngularOffsetDeg = 1.4f, verticalAngularOffsetDeg = -10.333f, ringId = 31, timeOffset = 0.029952f}, //LaserID = 30
new Laser {horizontalAngularOffsetDeg = -1.4f, verticalAngularOffsetDeg = 1.333f, ringId = 32, timeOffset = 0.0f}, //LaserID = 31
}
};

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3 changes: 0 additions & 3 deletions Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@ public static class LidarConfigurationLibrary
{
laserArray = LaserArrayLibrary.VelodyneVLP16,
horizontalResolution = 0.2f,
verticalStepTimeOffset = 0.002304f,
rechargeTimeOffset = 0.01843f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
Expand All @@ -67,7 +66,6 @@ public static class LidarConfigurationLibrary
{
laserArray = LaserArrayLibrary.VelodyneVLP32C,
horizontalResolution = 0.2f,
verticalStepTimeOffset = 0.002304f,
rechargeTimeOffset = 0.01843f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
Expand All @@ -79,7 +77,6 @@ public static class LidarConfigurationLibrary
{
laserArray = LaserArrayLibrary.VelodyneVLS128,
horizontalResolution = 0.2f,
verticalStepTimeOffset = 0.002304f,
rechargeTimeOffset = 0.01843f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
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