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19 verticalLinearOffsetMm: 0 - ringId: 40 + ringId: 2 + timeOffset: 0.03952 + minRange: 0 + maxRange: 0 + - horizontalAngularOffsetDeg: -1.042 + verticalAngularOffsetDeg: 25 + verticalLinearOffsetMm: 0 + ringId: 1 + timeOffset: 0.05194 + minRange: 0 + maxRange: 0 horizontalResolution: 0.2 minHAngle: 0 maxHAngle: 360 + minRange: 0 maxRange: 200 + laserArrayCycleTime: 0.05556 noiseParams: angularNoiseType: 0 angularNoiseStDev: 0.057295784 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab index 96461a3bf..0a7bb2751 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab @@ -360,9 +360,11 @@ MonoBehaviour: m_EditorClassIdentifier: pcl24Topic: lidar/pointcloud pcl48Topic: lidar/pointcloud_ex + instanceIdTopic: lidar/instance_id frameID: world publishPCL24: 1 publishPCL48: 1 + publishInstanceId: 0 reliabilityPolicy: 2 durabilityPolicy: 2 historyPolicy: 1 @@ -407,271 +409,467 @@ MonoBehaviour: modelPreset: 5 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 + applyVelocityDistortion: 0 configuration: + rayGenerateMethod: 0 laserArray: - centerOfMeasurementVerticalLinearOffsetMm: 50.4 - centerOfMeasurementHorizontalLinearOffsetMm: 29.8 + centerOfMeasurementLinearOffsetMm: {x: 0, y: 50.4, z: 0} + focalDistanceMm: 29.8 lasers: - horizontalAngularOffsetDeg: 8.736 verticalAngularOffsetDeg: 52.121 verticalLinearOffsetMm: 0 ringId: 1 + timeOffset: 0.00231 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 8.314 verticalAngularOffsetDeg: 49.785 verticalLinearOffsetMm: 0 ringId: 2 + timeOffset: 0.00437 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 7.964 verticalAngularOffsetDeg: 47.577 verticalLinearOffsetMm: 0 ringId: 3 + timeOffset: 0.00643 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 7.669 verticalAngularOffsetDeg: 45.477 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verticalLinearOffsetMm: 0 ringId: 55 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: -3.065 verticalAngularOffsetDeg: 12.316 verticalLinearOffsetMm: 0 ringId: 56 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 3.244 verticalAngularOffsetDeg: 12.791 verticalLinearOffsetMm: 0 ringId: 57 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 1.14 verticalAngularOffsetDeg: 13.321 verticalLinearOffsetMm: 0 ringId: 58 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: -0.963 verticalAngularOffsetDeg: 13.86 verticalLinearOffsetMm: 0 ringId: 59 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: -3.066 verticalAngularOffsetDeg: 14.423 verticalLinearOffsetMm: 0 ringId: 60 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 3.282 verticalAngularOffsetDeg: 14.925 verticalLinearOffsetMm: 0 ringId: 61 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 1.169 verticalAngularOffsetDeg: 15.458 verticalLinearOffsetMm: 0 ringId: 62 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: -0.971 verticalAngularOffsetDeg: 16.011 verticalLinearOffsetMm: 0 ringId: 63 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: -3.108 verticalAngularOffsetDeg: 16.598 verticalLinearOffsetMm: 0 ringId: 64 + timeOffset: 0 + minRange: 0 + maxRange: 0 horizontalResolution: 0.3515625 minHAngle: 0 maxHAngle: 360 + minRange: 0 maxRange: 120 + laserArrayCycleTime: 0 noiseParams: angularNoiseType: 0 angularNoiseStDev: 0.057295784 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab index a4ee70e68..a73208038 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab @@ -49,9 +49,11 @@ MonoBehaviour: m_EditorClassIdentifier: pcl24Topic: lidar/pointcloud pcl48Topic: lidar/pointcloud_ex + instanceIdTopic: lidar/instance_id frameID: world publishPCL24: 1 publishPCL48: 1 + publishInstanceId: 0 reliabilityPolicy: 2 durabilityPolicy: 2 historyPolicy: 1 @@ -96,79 +98,131 @@ MonoBehaviour: modelPreset: 2 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 + applyVelocityDistortion: 0 configuration: + rayGenerateMethod: 0 laserArray: - centerOfMeasurementVerticalLinearOffsetMm: 37.7 - centerOfMeasurementHorizontalLinearOffsetMm: 0 + centerOfMeasurementLinearOffsetMm: {x: 0, y: 37.7, z: 0} + focalDistanceMm: 0 lasers: - horizontalAngularOffsetDeg: 0 verticalAngularOffsetDeg: 15 verticalLinearOffsetMm: 11.2 ringId: 1 + timeOffset: 0 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 0 verticalAngularOffsetDeg: -1 verticalLinearOffsetMm: -0.7 ringId: 9 + timeOffset: 0.002304 + minRange: 0 + maxRange: 0 - horizontalAngularOffsetDeg: 0 verticalAngularOffsetDeg: 13 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ringId: 16 + timeOffset: 0.03456 + minRange: 0 + maxRange: 0 horizontalResolution: 0.2 minHAngle: 0 maxHAngle: 360 + minRange: 0 maxRange: 100 + laserArrayCycleTime: 0.055296 noiseParams: angularNoiseType: 0 angularNoiseStDev: 0.057295784 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab index debf103b3..20864618f 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab @@ -49,9 +49,11 @@ MonoBehaviour: m_EditorClassIdentifier: pcl24Topic: lidar/pointcloud pcl48Topic: lidar/pointcloud_ex + instanceIdTopic: lidar/instance_id frameID: world publishPCL24: 1 publishPCL48: 1 + publishInstanceId: 0 reliabilityPolicy: 2 durabilityPolicy: 2 historyPolicy: 1 @@ -96,143 +98,243 @@ MonoBehaviour: modelPreset: 3 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 + applyVelocityDistortion: 0 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9906c8770..4e671eb47 100644 Binary files a/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/zstd.dll and b/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/zstd.dll differ diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/Laser.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/Laser.cs index 526ae7b80..73d1bffc7 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/Laser.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/Laser.cs @@ -43,17 +43,35 @@ public struct Laser : IEquatable public float verticalLinearOffsetMm; /// - /// Id of the ring + /// Id of the ring. /// public int ringId; + /// + /// Time offset of the laser firing (in milliseconds). + /// + public float timeOffset; + + /// + /// Minimum range of the laser. + /// + public float minRange; + + /// + /// Maximum range of the laser. + /// + public float maxRange; + //// IEquatable interface public bool Equals(Laser other) { return this.horizontalAngularOffsetDeg == other.horizontalAngularOffsetDeg && this.verticalAngularOffsetDeg == other.verticalAngularOffsetDeg && this.verticalLinearOffsetMm == other.verticalLinearOffsetMm && - this.ringId == other.ringId; + this.ringId == other.ringId && + this.timeOffset == other.timeOffset && + this.minRange == other.minRange && + this.maxRange == other.maxRange; } public override bool Equals(object obj) @@ -63,4 +81,4 @@ public override bool Equals(object obj) public override int GetHashCode() => (horizontalAngularOffsetDeg, verticalAngularOffsetDeg, verticalLinearOffsetMm, ringId).GetHashCode(); } -} \ No newline at end of file +} diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArray.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArray.cs index a836d7462..984d458e4 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArray.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArray.cs @@ -33,8 +33,9 @@ public struct LaserArray // | | v // ._____________________. - - - - // | - // This offset is not considered when generating laser poses. To be applied manually when setting the pose of the lidar. - public float centerOfMeasurementVerticalLinearOffsetMm; + // Note: It is not always lay on the axis of symmetry of the device (e.g., hybrid solid-state LIDARs) + // This offset is not considered when generating laser poses. To be applied manually when setting the pose of the lidar (in RGL). + public Vector3 centerOfMeasurementLinearOffsetMm; // | / // .--------------------/. @@ -48,10 +49,12 @@ public struct LaserArray // . . // .<----->. // this distance - public float centerOfMeasurementHorizontalLinearOffsetMm; + // Distance from the sensor center to the focal point where all laser beams intersect. + public float focalDistanceMm; /// /// List of lasers constituting this array. + /// Note: Set minRange and maxRange of the lasers if ranges for them differ. If not, range can be specified in the LidarConfiguration. /// public Laser[] lasers; @@ -68,12 +71,17 @@ public Matrix4x4[] GetLaserPoses() return lasers.Select( laser => Matrix4x4.Translate(Vector3.up * mmToMeters(laser.verticalLinearOffsetMm) + Vector3.forward * - mmToMeters(self.centerOfMeasurementHorizontalLinearOffsetMm)) + mmToMeters(self.focalDistanceMm)) * Matrix4x4.Rotate(Quaternion.Euler(laser.verticalAngularOffsetDeg, laser.horizontalAngularOffsetDeg, 0.0f))).ToArray(); } + public Vector2[] GetLaserRanges() + { + return lasers.Select(laser => new Vector2(laser.minRange, laser.maxRange)).ToArray(); + } + public int[] GetLaserRingIds() { return lasers.Select(laser => laser.ringId).ToArray(); @@ -108,8 +116,8 @@ public static LaserArray Uniform(float minVAngle, float maxVAngle, int vIncremen return new LaserArray() { - centerOfMeasurementHorizontalLinearOffsetMm = 0.0f, - centerOfMeasurementVerticalLinearOffsetMm = 0.0f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 0.0f, 0.0f), + focalDistanceMm = 0.0f, lasers = lasers }; } diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs index 4ec4f3c76..1d04ee26c 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs @@ -12,10 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. +using UnityEngine; using System.Collections.Generic; namespace RGLUnityPlugin { + // This file contains the laser array definitions for the supported lidar models. + // The laser array definition is a list of lasers, each laser has a horizontal and vertical angular offset, a ring id, and a time offset. + // The time offset is the time it takes for the laser to fire after the first laser in the array. + // The horizontal and vertical angular offsets are the angular offsets of the laser from the center of the lidar. + // The order of the lasers in the array is the order of theirs ID. They not necessarily ordered by their angular offset, ring IDs or time offset. public static class LaserArrayLibrary { public static readonly Dictionary ByModel = @@ -27,336 +33,336 @@ public static class LaserArrayLibrary {LidarModel.VelodyneVLP32C, VelodyneVLP32C}, {LidarModel.VelodyneVLS128, VelodyneVLS128}, {LidarModel.OusterOS1_64, OusterOS1_64}, + {LidarModel.HesaiAT128E2X, HesaiAT128E2X}, }; // https://web2019.blob.core.windows.net/uploads/Pandar40P_User_Manual_402-en-211010.pdf public static LaserArray HesaiPandar40P => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 47.7f, - centerOfMeasurementHorizontalLinearOffsetMm = 0.0f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 47.7f, 0.0f), + focalDistanceMm = 0.0f, lasers = new[] { - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +25.0f, ringId = 1}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +19.0f, ringId = 2}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +14.0f, ringId = 3}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +13.0f, ringId = 4}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +12.0f, ringId = 5}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +11.0f, ringId = 6}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +10.0f, ringId = 7}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +9.0f, ringId = 8}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +8.0f, ringId = 9}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +7.0f, ringId = 10}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +6.0f, ringId = 11}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +5.67f, ringId = 12}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +5.33f, ringId = 13}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +5.0f, ringId = 14}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +4.67f, ringId = 15}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +4.33f, ringId = 16}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +4.0f, ringId = 17}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +3.67f, ringId = 18}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +3.33f, ringId = 19}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +3.0f, ringId = 20}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +2.67f, ringId = 21}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +2.33f, ringId = 22}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +2.0f, ringId = 23}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +1.67f, ringId = 24}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +1.33f, ringId = 25}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +1.0f, ringId = 26}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +0.67f, ringId = 27}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +0.33f, ringId = 28}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -0.0f, ringId = 29}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = -0.33f, ringId = 30}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = -0.67f, ringId = 31}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -1.0f, ringId = 32}, - new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = -1.33f, ringId = 33}, - new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = -1.67f, ringId = 34}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -2.0f, ringId = 35}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -3.0f, ringId = 36}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -5.0f, ringId = 37}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -8.0f, ringId = 38}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -11.0f, ringId = 39}, - new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -15.0f, ringId = 40} + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -15.0f, ringId = 40, timeOffset = 0.01334f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -11.0f, ringId = 39, timeOffset = 0.02709f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -8.0f, ringId = 38, timeOffset = 0.03952f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -5.0f, ringId = 37, timeOffset = 0.05194f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -3.0f, ringId = 36, timeOffset = 0.01007f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -2.0f, ringId = 35, timeOffset = 0.02382f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = -1.67f, ringId = 34, timeOffset = 0.0081f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = -1.33f, ringId = 33, timeOffset = 0.00089f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -1.0f, ringId = 32, timeOffset = 0.03494f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = -0.67f, ringId = 31, timeOffset = 0.02185f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = -0.33f, ringId = 30, timeOffset = 0.01465f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = -0.0f, ringId = 29, timeOffset = 0.04737f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +0.33f, ringId = 28, timeOffset = 0.03494f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +0.67f, ringId = 27, timeOffset = 0.0284f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +1.0f, ringId = 26, timeOffset = 0.00483f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +1.33f, ringId = 25, timeOffset = 0.04737f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +1.67f, ringId = 24, timeOffset = 0.04082f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +2.0f, ringId = 23, timeOffset = 0.01858f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +2.33f, ringId = 22, timeOffset = 0.01007f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +2.67f, ringId = 21, timeOffset = 0.00286f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +3.0f, ringId = 20, timeOffset = 0.03167f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +3.33f, ringId = 19, timeOffset = 0.02382f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +3.67f, ringId = 18, timeOffset = 0.01661f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +4.0f, ringId = 17, timeOffset = 0.04409f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +4.33f, ringId = 16, timeOffset = 0.03691f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +4.67f, ringId = 15, timeOffset = 0.03037f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +5.0f, ringId = 14, timeOffset = 0.0068f}, + new Laser {horizontalAngularOffsetDeg = 3.125f, verticalAngularOffsetDeg = +5.33f, ringId = 13, timeOffset = 0.0493f}, + new Laser {horizontalAngularOffsetDeg = -5.208f, verticalAngularOffsetDeg = +5.67f, ringId = 12, timeOffset = 0.04279f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +6.0f, ringId = 11, timeOffset = 0.02055f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +7.0f, ringId = 10, timeOffset = 0.03364f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +8.0f, ringId = 9, timeOffset = 0.04606f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +9.0f, ringId = 8, timeOffset = 0.01204f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +10.0f, ringId = 7, timeOffset = 0.02579f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +11.0f, ringId = 6, timeOffset = 0.03821f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +12.0f, ringId = 5, timeOffset = 0.05064f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +13.0f, ringId = 4, timeOffset = 0.01334f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +14.0f, ringId = 3, timeOffset = 0.02709f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +19.0f, ringId = 2, timeOffset = 0.03952f}, + new Laser {horizontalAngularOffsetDeg = -1.042f, verticalAngularOffsetDeg = +25.0f, ringId = 1, timeOffset = 0.05194f} } }; // https://web2019.blob.core.windows.net/uploads/PandarQT_User_Manual_Q01-en-210910.pdf public static LaserArray HesaiPandarQT => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 50.4f, - centerOfMeasurementHorizontalLinearOffsetMm = 29.8f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 50.4f, 0.0f), + focalDistanceMm = 29.8f, lasers = new[] { - new Laser {horizontalAngularOffsetDeg = 8.736f, verticalAngularOffsetDeg = +52.121f, ringId = 1}, - new Laser {horizontalAngularOffsetDeg = 8.314f, verticalAngularOffsetDeg = +49.785f, ringId = 2}, - new Laser {horizontalAngularOffsetDeg = 7.964f, verticalAngularOffsetDeg = +47.577f, ringId = 3}, - new Laser {horizontalAngularOffsetDeg = 7.669f, verticalAngularOffsetDeg = +45.477f, ringId = 4}, - new Laser {horizontalAngularOffsetDeg = 7.417f, verticalAngularOffsetDeg = +43.465f, ringId = 5}, - new Laser {horizontalAngularOffsetDeg = 7.198f, verticalAngularOffsetDeg = +41.528f, ringId = 6}, - new Laser {horizontalAngularOffsetDeg = 7.007f, verticalAngularOffsetDeg = +39.653f, ringId = 7}, - new Laser {horizontalAngularOffsetDeg = 6.838f, verticalAngularOffsetDeg = +37.831f, ringId = 8}, - new Laser {horizontalAngularOffsetDeg = 6.688f, verticalAngularOffsetDeg = +36.055f, ringId = 9}, - new Laser {horizontalAngularOffsetDeg = 6.554f, verticalAngularOffsetDeg = +34.32f, ringId = 10}, - new Laser {horizontalAngularOffsetDeg = 6.434f, verticalAngularOffsetDeg = +32.619f, ringId = 11}, - new Laser {horizontalAngularOffsetDeg = 6.326f, verticalAngularOffsetDeg = +30.95f, ringId = 12}, - new Laser {horizontalAngularOffsetDeg = 6.228f, verticalAngularOffsetDeg = +29.308f, ringId = 13}, - new Laser {horizontalAngularOffsetDeg = 6.14f, verticalAngularOffsetDeg = +27.69f, ringId = 14}, - new Laser {horizontalAngularOffsetDeg = 6.059f, verticalAngularOffsetDeg = +26.094f, ringId = 15}, - new Laser {horizontalAngularOffsetDeg = 5.987f, verticalAngularOffsetDeg = +24.517f, ringId = 16}, - new Laser {horizontalAngularOffsetDeg = -5.27f, verticalAngularOffsetDeg = +22.964f, ringId = 17}, - new Laser {horizontalAngularOffsetDeg = -5.216f, verticalAngularOffsetDeg = +21.42f, ringId = 18}, - new Laser {horizontalAngularOffsetDeg = -5.167f, verticalAngularOffsetDeg = +19.889f, ringId = 19}, - new Laser {horizontalAngularOffsetDeg = -5.123f, verticalAngularOffsetDeg = +18.372f, ringId = 20}, - new Laser {horizontalAngularOffsetDeg = -5.083f, verticalAngularOffsetDeg = +16.865f, ringId = 21}, - new Laser {horizontalAngularOffsetDeg = -5.047f, verticalAngularOffsetDeg = +15.368f, ringId = 22}, - new Laser {horizontalAngularOffsetDeg = -5.016f, verticalAngularOffsetDeg = +13.88f, ringId = 23}, - new Laser {horizontalAngularOffsetDeg = -4.988f, verticalAngularOffsetDeg = +12.399f, ringId = 24}, - new Laser {horizontalAngularOffsetDeg = -4.963f, verticalAngularOffsetDeg = +10.925f, ringId = 25}, - new Laser {horizontalAngularOffsetDeg = -4.942f, verticalAngularOffsetDeg = +9.457f, ringId = 26}, - new Laser {horizontalAngularOffsetDeg = -4.924f, verticalAngularOffsetDeg = +7.994f, ringId = 27}, - new Laser {horizontalAngularOffsetDeg = -4.91f, verticalAngularOffsetDeg = +6.535f, ringId = 28}, - new Laser {horizontalAngularOffsetDeg = -4.898f, verticalAngularOffsetDeg = +5.079f, ringId = 29}, - new Laser {horizontalAngularOffsetDeg = -4.889f, verticalAngularOffsetDeg = +3.626f, ringId = 30}, - new Laser {horizontalAngularOffsetDeg = -4.884f, verticalAngularOffsetDeg = +2.175f, ringId = 31}, - new Laser {horizontalAngularOffsetDeg = -4.881f, verticalAngularOffsetDeg = +0.725f, ringId = 32}, - new Laser {horizontalAngularOffsetDeg = 5.493f, verticalAngularOffsetDeg = -0.725f, ringId = 33}, - new Laser {horizontalAngularOffsetDeg = 5.496f, verticalAngularOffsetDeg = -2.175f, ringId = 34}, - new Laser {horizontalAngularOffsetDeg = 5.502f, verticalAngularOffsetDeg = -3.626f, ringId = 35}, - new Laser {horizontalAngularOffsetDeg = 5.512f, verticalAngularOffsetDeg = -5.079f, ringId = 36}, - new Laser {horizontalAngularOffsetDeg = 5.525f, verticalAngularOffsetDeg = -6.534f, ringId = 37}, - new Laser {horizontalAngularOffsetDeg = 5.541f, verticalAngularOffsetDeg = -7.993f, ringId = 38}, - new Laser {horizontalAngularOffsetDeg = 5.561f, verticalAngularOffsetDeg = -9.456f, ringId = 39}, - new Laser {horizontalAngularOffsetDeg = 5.584f, verticalAngularOffsetDeg = -10.923f, ringId = 40}, - new Laser {horizontalAngularOffsetDeg = 5.611f, verticalAngularOffsetDeg = -12.397f, ringId = 41}, - new Laser {horizontalAngularOffsetDeg = 5.642f, verticalAngularOffsetDeg = -13.877f, ringId = 42}, - new Laser {horizontalAngularOffsetDeg = 5.676f, verticalAngularOffsetDeg = -15.365f, ringId = 43}, - new Laser {horizontalAngularOffsetDeg = 5.716f, verticalAngularOffsetDeg = -16.861f, ringId = 44}, - new Laser {horizontalAngularOffsetDeg = 5.759f, verticalAngularOffsetDeg = -18.368f, ringId = 45}, - new Laser {horizontalAngularOffsetDeg = 5.808f, verticalAngularOffsetDeg = -19.885f, ringId = 46}, - new Laser {horizontalAngularOffsetDeg = 5.862f, verticalAngularOffsetDeg = -21.415f, ringId = 47}, - new Laser {horizontalAngularOffsetDeg = 5.921f, verticalAngularOffsetDeg = -22.959f, ringId = 48}, - new Laser {horizontalAngularOffsetDeg = -5.33f, verticalAngularOffsetDeg = -24.524f, ringId = 49}, - new Laser {horizontalAngularOffsetDeg = -5.396f, verticalAngularOffsetDeg = -26.101f, ringId = 50}, - new Laser {horizontalAngularOffsetDeg = -5.469f, verticalAngularOffsetDeg = -27.697f, ringId = 51}, - new Laser {horizontalAngularOffsetDeg = -5.55f, verticalAngularOffsetDeg = -29.315f, ringId = 52}, - new Laser {horizontalAngularOffsetDeg = -5.64f, verticalAngularOffsetDeg = -30.957f, ringId = 53}, - new Laser {horizontalAngularOffsetDeg = -5.74f, verticalAngularOffsetDeg = -32.627f, ringId = 54}, - new Laser {horizontalAngularOffsetDeg = -5.85f, verticalAngularOffsetDeg = -34.328f, ringId = 55}, - new Laser {horizontalAngularOffsetDeg = -5.974f, verticalAngularOffsetDeg = -36.064f, ringId = 56}, - new Laser {horizontalAngularOffsetDeg = -6.113f, verticalAngularOffsetDeg = -37.84f, ringId = 57}, - new Laser {horizontalAngularOffsetDeg = -6.269f, verticalAngularOffsetDeg = -39.662f, ringId = 58}, - new Laser {horizontalAngularOffsetDeg = -6.447f, verticalAngularOffsetDeg = -41.537f, ringId = 59}, - new Laser {horizontalAngularOffsetDeg = -6.651f, verticalAngularOffsetDeg = -43.475f, ringId = 60}, - new Laser {horizontalAngularOffsetDeg = -6.887f, verticalAngularOffsetDeg = -45.487f, ringId = 61}, - new Laser {horizontalAngularOffsetDeg = -7.163f, verticalAngularOffsetDeg = -47.587f, ringId = 62}, - new Laser {horizontalAngularOffsetDeg = -7.493f, verticalAngularOffsetDeg = -49.795f, ringId = 63}, - new Laser {horizontalAngularOffsetDeg = -7.892f, verticalAngularOffsetDeg = -52.133f, ringId = 64}, + new Laser {horizontalAngularOffsetDeg = 8.736f, verticalAngularOffsetDeg = +52.121f, ringId = 1, timeOffset = 0.00231f}, + new Laser {horizontalAngularOffsetDeg = 8.314f, verticalAngularOffsetDeg = +49.785f, ringId = 2, timeOffset = 0.00437f}, + new Laser {horizontalAngularOffsetDeg = 7.964f, verticalAngularOffsetDeg = +47.577f, ringId = 3, timeOffset = 0.00643f}, + new Laser {horizontalAngularOffsetDeg = 7.669f, verticalAngularOffsetDeg = +45.477f, ringId = 4, timeOffset = 0.00849f}, + new Laser {horizontalAngularOffsetDeg = 7.417f, verticalAngularOffsetDeg = +43.465f, ringId = 5, timeOffset = 0.01054f}, + new Laser {horizontalAngularOffsetDeg = 7.198f, verticalAngularOffsetDeg = +41.528f, ringId = 6, timeOffset = 0.01260f}, + new Laser {horizontalAngularOffsetDeg = 7.007f, verticalAngularOffsetDeg = +39.653f, ringId = 7, timeOffset = 0.01466f}, + new Laser {horizontalAngularOffsetDeg = 6.838f, verticalAngularOffsetDeg = +37.831f, ringId = 8, timeOffset = 0.01671f}, + new Laser {horizontalAngularOffsetDeg = 6.688f, verticalAngularOffsetDeg = +36.055f, ringId = 9, timeOffset = 0.01916f}, + new Laser {horizontalAngularOffsetDeg = 6.554f, verticalAngularOffsetDeg = +34.32f, ringId = 10, timeOffset = 0.02122f}, + new Laser {horizontalAngularOffsetDeg = 6.434f, verticalAngularOffsetDeg = +32.619f, ringId = 11, timeOffset = 0.02328f}, + new Laser {horizontalAngularOffsetDeg = 6.326f, verticalAngularOffsetDeg = +30.95f, ringId = 12, timeOffset = 0.02534f}, + new Laser {horizontalAngularOffsetDeg = 6.228f, verticalAngularOffsetDeg = +29.308f, ringId = 13, timeOffset = 0.02739f}, + new Laser {horizontalAngularOffsetDeg = 6.14f, verticalAngularOffsetDeg = +27.69f, ringId = 14, timeOffset = 0.02945f}, + new Laser {horizontalAngularOffsetDeg = 6.059f, verticalAngularOffsetDeg = +26.094f, ringId = 15, timeOffset = 0.03150f}, + new Laser {horizontalAngularOffsetDeg = 5.987f, verticalAngularOffsetDeg = +24.517f, ringId = 16, timeOffset = 0.03356f}, + new Laser {horizontalAngularOffsetDeg = -5.27f, verticalAngularOffsetDeg = +22.964f, ringId = 17, timeOffset = 0.03661f}, + new Laser {horizontalAngularOffsetDeg = -5.216f, verticalAngularOffsetDeg = +21.42f, ringId = 18, timeOffset = 0.03867f}, + new Laser {horizontalAngularOffsetDeg = -5.167f, verticalAngularOffsetDeg = +19.889f, ringId = 19, timeOffset = 0.04073f}, + new Laser {horizontalAngularOffsetDeg = -5.123f, verticalAngularOffsetDeg = +18.372f, ringId = 20, timeOffset = 0.04278f}, + new Laser {horizontalAngularOffsetDeg = -5.083f, verticalAngularOffsetDeg = +16.865f, ringId = 21, timeOffset = 0.04484f}, + new Laser {horizontalAngularOffsetDeg = -5.047f, verticalAngularOffsetDeg = +15.368f, ringId = 22, timeOffset = 0.04690f}, + new Laser {horizontalAngularOffsetDeg = -5.016f, verticalAngularOffsetDeg = +13.88f, ringId = 23, timeOffset = 0.04895f}, + new Laser {horizontalAngularOffsetDeg = -4.988f, verticalAngularOffsetDeg = +12.399f, ringId = 24, timeOffset = 0.05101f}, + new Laser {horizontalAngularOffsetDeg = -4.963f, verticalAngularOffsetDeg = +10.925f, ringId = 25, timeOffset = 0.05345f}, + new Laser {horizontalAngularOffsetDeg = -4.942f, verticalAngularOffsetDeg = +9.457f, ringId = 26, timeOffset = 0.05552f}, + new Laser {horizontalAngularOffsetDeg = -4.924f, verticalAngularOffsetDeg = +7.994f, ringId = 27, timeOffset = 0.05758f}, + new Laser {horizontalAngularOffsetDeg = -4.91f, verticalAngularOffsetDeg = +6.535f, ringId = 28, timeOffset = 0.05963f}, + new Laser {horizontalAngularOffsetDeg = -4.898f, verticalAngularOffsetDeg = +5.079f, ringId = 29, timeOffset = 0.06169f}, + new Laser {horizontalAngularOffsetDeg = -4.889f, verticalAngularOffsetDeg = +3.626f, ringId = 30, timeOffset = 0.06374f}, + new Laser {horizontalAngularOffsetDeg = -4.884f, verticalAngularOffsetDeg = +2.175f, ringId = 31, timeOffset = 0.06580f}, + new Laser {horizontalAngularOffsetDeg = -4.881f, verticalAngularOffsetDeg = +0.725f, ringId = 32, timeOffset = 0.06786f}, + new Laser {horizontalAngularOffsetDeg = 5.493f, verticalAngularOffsetDeg = -0.725f, ringId = 33, timeOffset = 0.07090f}, + new Laser {horizontalAngularOffsetDeg = 5.496f, verticalAngularOffsetDeg = -2.175f, ringId = 34, timeOffset = 0.07297f}, + new Laser {horizontalAngularOffsetDeg = 5.502f, verticalAngularOffsetDeg = -3.626f, ringId = 35, timeOffset = 0.07502f}, + new Laser {horizontalAngularOffsetDeg = 5.512f, verticalAngularOffsetDeg = -5.079f, ringId = 36, timeOffset = 0.07708f}, + new Laser {horizontalAngularOffsetDeg = 5.525f, verticalAngularOffsetDeg = -6.534f, ringId = 37, timeOffset = 0.07914f}, + new Laser {horizontalAngularOffsetDeg = 5.541f, verticalAngularOffsetDeg = -7.993f, ringId = 38, timeOffset = 0.08119f}, + new Laser {horizontalAngularOffsetDeg = 5.561f, verticalAngularOffsetDeg = -9.456f, ringId = 39, timeOffset = 0.08325f}, + new Laser {horizontalAngularOffsetDeg = 5.584f, verticalAngularOffsetDeg = -10.923f, ringId = 40, timeOffset = 0.08530f}, + new Laser {horizontalAngularOffsetDeg = 5.611f, verticalAngularOffsetDeg = -12.397f, ringId = 41, timeOffset = 0.08775f}, + new Laser {horizontalAngularOffsetDeg = 5.642f, verticalAngularOffsetDeg = -13.877f, ringId = 42, timeOffset = 0.08982f}, + new Laser {horizontalAngularOffsetDeg = 5.676f, verticalAngularOffsetDeg = -15.365f, ringId = 43, timeOffset = 0.09187f}, + new Laser {horizontalAngularOffsetDeg = 5.716f, verticalAngularOffsetDeg = -16.861f, ringId = 44, timeOffset = 0.09393f}, + new Laser {horizontalAngularOffsetDeg = 5.759f, verticalAngularOffsetDeg = -18.368f, ringId = 45, timeOffset = 0.09598f}, + new Laser {horizontalAngularOffsetDeg = 5.808f, verticalAngularOffsetDeg = -19.885f, ringId = 46, timeOffset = 0.09804f}, + new Laser {horizontalAngularOffsetDeg = 5.862f, verticalAngularOffsetDeg = -21.415f, ringId = 47, timeOffset = 0.10010f}, + new Laser {horizontalAngularOffsetDeg = 5.921f, verticalAngularOffsetDeg = -22.959f, ringId = 48, timeOffset = 0.10215f}, + new Laser {horizontalAngularOffsetDeg = -5.33f, verticalAngularOffsetDeg = -24.524f, ringId = 49, timeOffset = 0.10520f}, + new Laser {horizontalAngularOffsetDeg = -5.396f, verticalAngularOffsetDeg = -26.101f, ringId = 50, timeOffset = 0.10726f}, + new Laser {horizontalAngularOffsetDeg = -5.469f, verticalAngularOffsetDeg = -27.697f, ringId = 51, timeOffset = 0.10932f}, + new Laser {horizontalAngularOffsetDeg = -5.55f, verticalAngularOffsetDeg = -29.315f, ringId = 52, timeOffset = 0.11138f}, + new Laser {horizontalAngularOffsetDeg = -5.64f, verticalAngularOffsetDeg = -30.957f, ringId = 53, timeOffset = 0.11343f}, + new Laser {horizontalAngularOffsetDeg = -5.74f, verticalAngularOffsetDeg = -32.627f, ringId = 54, timeOffset = 0.11549f}, + new Laser {horizontalAngularOffsetDeg = -5.85f, verticalAngularOffsetDeg = -34.328f, ringId = 55, timeOffset = 0.11754f}, + new Laser {horizontalAngularOffsetDeg = -5.974f, verticalAngularOffsetDeg = -36.064f, ringId = 56, timeOffset = 0.11960f}, + new Laser {horizontalAngularOffsetDeg = -6.113f, verticalAngularOffsetDeg = -37.84f, ringId = 57, timeOffset = 0.12205f}, + new Laser {horizontalAngularOffsetDeg = -6.269f, verticalAngularOffsetDeg = -39.662f, ringId = 58, timeOffset = 0.12411f}, + new Laser {horizontalAngularOffsetDeg = -6.447f, verticalAngularOffsetDeg = -41.537f, ringId = 59, timeOffset = 0.12617f}, + new Laser {horizontalAngularOffsetDeg = -6.651f, verticalAngularOffsetDeg = -43.475f, ringId = 60, timeOffset = 0.12822f}, + new Laser {horizontalAngularOffsetDeg = -6.887f, verticalAngularOffsetDeg = -45.487f, ringId = 61, timeOffset = 0.13028f}, + new Laser {horizontalAngularOffsetDeg = -7.163f, verticalAngularOffsetDeg = -47.587f, ringId = 62, timeOffset = 0.13234f}, + new Laser {horizontalAngularOffsetDeg = -7.493f, verticalAngularOffsetDeg = -49.795f, ringId = 63, timeOffset = 0.13439f}, + new Laser {horizontalAngularOffsetDeg = -7.892f, verticalAngularOffsetDeg = -52.133f, ringId = 64, timeOffset = 0.13645f}, } }; // https://velodynelidar.com/wp-content/uploads/2019/12/63-9243-Rev-E-VLP-16-User-Manual.pdf public static LaserArray VelodyneVLP16 => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 37.7f, - centerOfMeasurementHorizontalLinearOffsetMm = 0.0f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 37.7f, 0.0f), + focalDistanceMm = 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 }, } }; - // https://icave2.cse.buffalo.edu/resources/sensor-modeling/VLP32CManual.pdf public static LaserArray VelodyneVLP32C => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 37.34f, - centerOfMeasurementHorizontalLinearOffsetMm = 42.4f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 37.34f, 0.0f), + focalDistanceMm = 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 } }; // https://gpsolution.oss-cn-beijing.aliyuncs.com/manual/LiDAR/MANUAL%2CUSERS%2CVLP-128.pdf public static LaserArray VelodyneVLS128 => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 66.11f, - centerOfMeasurementHorizontalLinearOffsetMm = 58.63f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 66.11f, 0.0f), + focalDistanceMm = 58.63f, lasers = new[] { - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +11.742f, ringId = 5}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +1.99f, ringId = 54}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -3.4f, ringId = 103}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +5.29f, ringId = 24}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +0.78f, ringId = 65}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -4.61f, ringId = 114}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +4.08f, ringId = 35}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -1.31f, ringId = 84}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +6.5f, ringId = 13}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +1.11f, ringId = 62}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -4.28f, ringId = 111}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +4.41f, ringId = 32}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -0.1f, ringId = 73}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -6.48f, ringId = 122}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +3.2f, ringId = 43}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -2.19f, ringId = 92}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +3.86f, ringId = 37}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -1.53f, ringId = 86}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +9.244f, ringId = 7}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +1.77f, ringId = 56}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -2.74f, ringId = 97}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +5.95f, ringId = 18}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +0.56f, ringId = 67}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -4.83f, ringId = 116}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +2.98f, ringId = 45}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -2.41f, ringId = 94}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +6.28f, ringId = 15}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +0.89f, ringId = 64}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -3.62f, ringId = 105}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +5.07f, ringId = 26}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -0.32f, ringId = 75}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -7.58f, ringId = 124}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +0.34f, ringId = 69}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -5.18f, ringId = 118}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +3.64f, ringId = 39}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -1.75f, ringId = 88}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +25f, ringId = 1}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +2.43f, ringId = 50}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -2.96f, ringId = 99}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +5.73f, ringId = 20}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -0.54f, ringId = 77}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -9.7f, ringId = 126}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +2.76f, ringId = 47}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -2.63f, ringId = 96}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +7.65f, ringId = 9}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +1.55f, ringId = 58}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -3.84f, ringId = 107}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +4.85f, ringId = 28}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -3.18f, ringId = 101}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +5.51f, ringId = 22}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +0.12f, ringId = 71}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -5.73f, ringId = 120}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +4.3f, ringId = 33}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -1.09f, ringId = 82}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +16.042f, ringId = 3}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +2.21f, ringId = 52}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -4.06f, ringId = 109}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +4.63f, ringId = 30}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -0.76f, ringId = 79}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -15f, ringId = 128}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +3.42f, ringId = 41}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -1.97f, ringId = 90}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +6.85f, ringId = 11}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +1.33f, ringId = 60}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +5.62f, ringId = 21}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +0.23f, ringId = 70}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -5.43f, ringId = 119}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +3.53f, ringId = 40}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -0.98f, ringId = 81}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +19.582f, ringId = 2}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +2.32f, ringId = 51}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -3.07f, ringId = 100}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +4.74f, ringId = 29}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -0.65f, ringId = 78}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -11.75f, ringId = 127}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +2.65f, ringId = 48}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -1.86f, ringId = 89}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +7.15f, ringId = 10}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +1.44f, ringId = 59}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -3.95f, ringId = 108}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +2.1f, ringId = 53}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -3.29f, ringId = 102}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +5.4f, ringId = 23}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +0.01f, ringId = 72}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -4.5f, ringId = 113}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +4.19f, ringId = 34}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -1.2f, ringId = 83}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +13.565f, ringId = 4}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +1.22f, ringId = 61}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -4.17f, ringId = 110}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +4.52f, ringId = 31}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -0.87f, ringId = 80}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -6.08f, ringId = 121}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +3.31f, ringId = 42}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -2.008f, ringId = 91}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +6.65f, ringId = 12}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -1.42f, ringId = 85}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +10.346f, ringId = 6}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +1.88f, ringId = 55}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -3.51f, ringId = 104}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +6.06f, ringId = 17}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +0.67f, ringId = 66}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -4.72f, ringId = 115}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +3.97f, ringId = 36}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -2.3f, ringId = 93}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +6.39f, ringId = 14}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +1f, ringId = 63}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -4.39f, ringId = 112}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +5.18f, ringId = 25}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -0.21f, ringId = 74}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -6.98f, ringId = 123}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +3.09f, ringId = 44}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -4.98f, ringId = 117}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +3.75f, ringId = 38}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -1.64f, ringId = 87}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +8.352f, ringId = 8}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +2.54f, ringId = 49}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -2.85f, ringId = 98}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +5.84f, ringId = 19}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +0.45f, ringId = 68}, - new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -8.43f, ringId = 125}, - new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +2.87f, ringId = 46}, - new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -2.52f, ringId = 95}, - new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +6.17f, ringId = 16}, - new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +1.66f, ringId = 57}, - new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -3.73f, ringId = 106}, - new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +4.96f, ringId = 27}, - new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -0.43f, ringId = 76}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +11.742f, ringId = 5, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +1.99f, ringId = 54, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -3.4f, ringId = 103, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +5.29f, ringId = 24, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +0.78f, ringId = 65, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -4.61f, ringId = 114, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +4.08f, ringId = 35, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -1.31f, ringId = 84, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +6.5f, ringId = 13, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +1.11f, ringId = 62, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -4.28f, ringId = 111, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +4.41f, ringId = 32, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -0.1f, ringId = 73, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -6.48f, ringId = 122, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +3.2f, ringId = 43, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -2.19f, ringId = 92, timeOffset = 0.00289f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +3.86f, ringId = 37, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -1.53f, ringId = 86, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +9.244f, ringId = 7, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +1.77f, ringId = 56, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -2.74f, ringId = 97, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +5.95f, ringId = 18, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +0.56f, ringId = 67, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -4.83f, ringId = 116, timeOffset = 0.00578f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +2.98f, ringId = 45, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -2.41f, ringId = 94, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +6.28f, ringId = 15, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +0.89f, ringId = 64, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -3.62f, ringId = 105, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +5.07f, ringId = 26, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -0.32f, ringId = 75, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -7.58f, ringId = 124, timeOffset = 0.00867f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +0.34f, ringId = 69, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -5.18f, ringId = 118, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +3.64f, ringId = 39, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -1.75f, ringId = 88, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +25f, ringId = 1, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +2.43f, ringId = 50, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -2.96f, ringId = 99, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +5.73f, ringId = 20, timeOffset = 0.01156f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -0.54f, ringId = 77, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -9.7f, ringId = 126, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +2.76f, ringId = 47, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -2.63f, ringId = 96, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +7.65f, ringId = 9, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +1.55f, ringId = 58, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -3.84f, ringId = 107, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +4.85f, ringId = 28, timeOffset = 0.01445f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -3.18f, ringId = 101, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +5.51f, ringId = 22, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +0.12f, ringId = 71, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -5.73f, ringId = 120, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +4.3f, ringId = 33, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -1.09f, ringId = 82, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +16.042f, ringId = 3, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +2.21f, ringId = 52, timeOffset = 0.02023f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -4.06f, ringId = 109, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +4.63f, ringId = 30, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -0.76f, ringId = 79, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -15f, ringId = 128, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +3.42f, ringId = 41, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -1.97f, ringId = 90, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +6.85f, ringId = 11, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +1.33f, ringId = 60, timeOffset = 0.02601f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +5.62f, ringId = 21, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +0.23f, ringId = 70, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -5.43f, ringId = 119, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +3.53f, ringId = 40, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -0.98f, ringId = 81, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +19.582f, ringId = 2, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +2.32f, ringId = 51, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -3.07f, ringId = 100, timeOffset = 0.02890f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +4.74f, ringId = 29, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -0.65f, ringId = 78, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -11.75f, ringId = 127, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +2.65f, ringId = 48, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -1.86f, ringId = 89, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +7.15f, ringId = 10, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +1.44f, ringId = 59, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -3.95f, ringId = 108, timeOffset = 0.03179f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +2.1f, ringId = 53, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -3.29f, ringId = 102, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +5.4f, ringId = 23, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +0.01f, ringId = 72, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -4.5f, ringId = 113, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +4.19f, ringId = 34, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -1.2f, ringId = 83, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +13.565f, ringId = 4, timeOffset = 0.03468f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = +1.22f, ringId = 61, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = -4.17f, ringId = 110, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +4.52f, ringId = 31, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -0.87f, ringId = 80, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = -6.08f, ringId = 121, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +3.31f, ringId = 42, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -2.008f, ringId = 91, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +6.65f, ringId = 12, timeOffset = 0.03757f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -1.42f, ringId = 85, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +10.346f, ringId = 6, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +1.88f, ringId = 55, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -3.51f, ringId = 104, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +6.06f, ringId = 17, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = +0.67f, ringId = 66, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -4.72f, ringId = 115, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +3.97f, ringId = 36, timeOffset = 0.04046f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -2.3f, ringId = 93, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +6.39f, ringId = 14, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = +1f, ringId = 63, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = -4.39f, ringId = 112, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +5.18f, ringId = 25, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -0.21f, ringId = 74, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = -6.98f, ringId = 123, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +3.09f, ringId = 44, timeOffset = 0.04335f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -4.98f, ringId = 117, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +3.75f, ringId = 38, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -1.64f, ringId = 87, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +8.352f, ringId = 8, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +2.54f, ringId = 49, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -2.85f, ringId = 98, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +5.84f, ringId = 19, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = +0.45f, ringId = 68, timeOffset = 0.04624f}, + new Laser {horizontalAngularOffsetDeg = +6.354f, verticalAngularOffsetDeg = -8.43f, ringId = 125, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = +4.548f, verticalAngularOffsetDeg = +2.87f, ringId = 46, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = +2.732f, verticalAngularOffsetDeg = -2.52f, ringId = 95, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = +0.911f, verticalAngularOffsetDeg = +6.17f, ringId = 16, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = -0.911f, verticalAngularOffsetDeg = +1.66f, ringId = 57, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = -2.732f, verticalAngularOffsetDeg = -3.73f, ringId = 106, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = -4.548f, verticalAngularOffsetDeg = +4.96f, ringId = 27, timeOffset = 0.04913f}, + new Laser {horizontalAngularOffsetDeg = -6.354f, verticalAngularOffsetDeg = -0.43f, ringId = 76, timeOffset = 0.04913f}, } }; @@ -366,75 +372,213 @@ public static class LaserArrayLibrary // Assets/RGLUnityPlugin/RawData/ouster_status.txt public static LaserArray OusterOS1_64 => new LaserArray { - centerOfMeasurementVerticalLinearOffsetMm = 36.18f, - centerOfMeasurementHorizontalLinearOffsetMm = 12.163f, + centerOfMeasurementLinearOffsetMm = new Vector3(0.0f, 36.18f, 0.0f), + focalDistanceMm = 12.163f, + lasers = new[] + { + new Laser {horizontalAngularOffsetDeg = 3.057f, verticalAngularOffsetDeg = -16.352f, ringId = 1, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.921f, verticalAngularOffsetDeg = -15.772f, ringId = 2, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.188f, verticalAngularOffsetDeg = -15.219f, ringId = 3, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.313f, verticalAngularOffsetDeg = -14.685f, ringId = 4, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.051f, verticalAngularOffsetDeg = -14.191f, ringId = 5, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.928f, verticalAngularOffsetDeg = -13.622f, ringId = 6, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.152f, verticalAngularOffsetDeg = -13.079f, ringId = 7, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.256f, verticalAngularOffsetDeg = -12.564f, ringId = 8, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.044f, verticalAngularOffsetDeg = -12.072f, ringId = 9, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.953f, verticalAngularOffsetDeg = -11.518f, ringId = 10, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.131f, verticalAngularOffsetDeg = -10.984f, ringId = 11, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.204f, verticalAngularOffsetDeg = -10.468f, ringId = 12, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.042f, verticalAngularOffsetDeg = -9.982f, ringId = 13, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.954f, verticalAngularOffsetDeg = -9.435f, ringId = 14, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.105f, verticalAngularOffsetDeg = -8.896f, ringId = 15, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = -8.380f, ringId = 16, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.044f, verticalAngularOffsetDeg = -7.903f, ringId = 17, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.986f, verticalAngularOffsetDeg = -7.368f, ringId = 18, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.082f, verticalAngularOffsetDeg = -6.845f, ringId = 19, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.135f, verticalAngularOffsetDeg = -6.312f, ringId = 20, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.047f, verticalAngularOffsetDeg = -5.840f, ringId = 21, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 0.995f, verticalAngularOffsetDeg = -5.306f, ringId = 22, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.064f, verticalAngularOffsetDeg = -4.771f, ringId = 23, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.106f, verticalAngularOffsetDeg = -4.251f, ringId = 24, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.071f, verticalAngularOffsetDeg = -3.779f, ringId = 25, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.013f, verticalAngularOffsetDeg = -3.240f, ringId = 26, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.036f, verticalAngularOffsetDeg = -2.714f, ringId = 27, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.082f, verticalAngularOffsetDeg = -2.189f, ringId = 28, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.080f, verticalAngularOffsetDeg = -1.717f, ringId = 29, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.031f, verticalAngularOffsetDeg = -1.187f, ringId = 30, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.016f, verticalAngularOffsetDeg = -0.650f, ringId = 31, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.076f, verticalAngularOffsetDeg = -0.125f, ringId = 32, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.103f, verticalAngularOffsetDeg = 0.347f, ringId = 33, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.048f, verticalAngularOffsetDeg = 0.874f, ringId = 34, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -1.008f, verticalAngularOffsetDeg = 1.405f, ringId = 35, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.062f, verticalAngularOffsetDeg = 1.936f, ringId = 36, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.114f, verticalAngularOffsetDeg = 2.406f, ringId = 37, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.066f, verticalAngularOffsetDeg = 2.937f, ringId = 38, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.995f, verticalAngularOffsetDeg = 3.466f, ringId = 39, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.055f, verticalAngularOffsetDeg = 4.002f, ringId = 40, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.134f, verticalAngularOffsetDeg = 4.472f, ringId = 41, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.076f, verticalAngularOffsetDeg = 4.999f, ringId = 42, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.980f, verticalAngularOffsetDeg = 5.530f, ringId = 43, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.052f, verticalAngularOffsetDeg = 6.066f, ringId = 44, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.156f, verticalAngularOffsetDeg = 6.538f, ringId = 45, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.099f, verticalAngularOffsetDeg = 7.063f, ringId = 46, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.972f, verticalAngularOffsetDeg = 7.597f, ringId = 47, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.031f, verticalAngularOffsetDeg = 8.144f, ringId = 48, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.175f, verticalAngularOffsetDeg = 8.612f, ringId = 49, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.110f, verticalAngularOffsetDeg = 9.137f, ringId = 50, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.959f, verticalAngularOffsetDeg = 9.672f, ringId = 51, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.034f, verticalAngularOffsetDeg = 10.218f, ringId = 52, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.204f, verticalAngularOffsetDeg = 10.695f, ringId = 53, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.132f, verticalAngularOffsetDeg = 11.215f, ringId = 54, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.964f, verticalAngularOffsetDeg = 11.757f, ringId = 55, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.065f, verticalAngularOffsetDeg = 12.316f, ringId = 56, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.244f, verticalAngularOffsetDeg = 12.791f, ringId = 57, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.140f, verticalAngularOffsetDeg = 13.321f, ringId = 58, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.963f, verticalAngularOffsetDeg = 13.860f, ringId = 59, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.066f, verticalAngularOffsetDeg = 14.423f, ringId = 60, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 3.282f, verticalAngularOffsetDeg = 14.925f, ringId = 61, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = 1.169f, verticalAngularOffsetDeg = 15.458f, ringId = 62, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -0.971f, verticalAngularOffsetDeg = 16.011f, ringId = 63, timeOffset = 0.0f}, + new Laser {horizontalAngularOffsetDeg = -3.108f, verticalAngularOffsetDeg = 16.598f, ringId = 64, timeOffset = 0.0f}, + } + }; + + // https://www.hesaitech.com/wp-content/uploads/2023/05/AT128E2X_User_Manual_A01-en-230510.pdf + public static LaserArray HesaiAT128E2X => new LaserArray + { + centerOfMeasurementLinearOffsetMm = new Vector3(-17.1f, 24.0f, 41.65f), + focalDistanceMm = 0.0f, lasers = new[] { - new Laser {horizontalAngularOffsetDeg = 3.057f, verticalAngularOffsetDeg = -16.352f, ringId = 1}, - new Laser {horizontalAngularOffsetDeg = 0.921f, verticalAngularOffsetDeg = -15.772f, ringId = 2}, - new Laser {horizontalAngularOffsetDeg = -1.188f, verticalAngularOffsetDeg = -15.219f, ringId = 3}, - new Laser {horizontalAngularOffsetDeg = -3.313f, verticalAngularOffsetDeg = -14.685f, ringId = 4}, - new Laser {horizontalAngularOffsetDeg = 3.051f, verticalAngularOffsetDeg = -14.191f, ringId = 5}, - new Laser {horizontalAngularOffsetDeg = 0.928f, verticalAngularOffsetDeg = -13.622f, ringId = 6}, - new Laser {horizontalAngularOffsetDeg = -1.152f, verticalAngularOffsetDeg = -13.079f, ringId = 7}, - new Laser {horizontalAngularOffsetDeg = -3.256f, verticalAngularOffsetDeg = -12.564f, ringId = 8}, - new Laser {horizontalAngularOffsetDeg = 3.044f, verticalAngularOffsetDeg = -12.072f, ringId = 9}, - new Laser {horizontalAngularOffsetDeg = 0.953f, verticalAngularOffsetDeg = -11.518f, ringId = 10}, - new Laser {horizontalAngularOffsetDeg = -1.131f, verticalAngularOffsetDeg = -10.984f, ringId = 11}, - new Laser {horizontalAngularOffsetDeg = -3.204f, verticalAngularOffsetDeg = -10.468f, ringId = 12}, - new Laser {horizontalAngularOffsetDeg = 3.042f, verticalAngularOffsetDeg = -9.982f, ringId = 13}, - new Laser {horizontalAngularOffsetDeg = 0.954f, verticalAngularOffsetDeg = -9.435f, ringId = 14}, - new Laser {horizontalAngularOffsetDeg = -1.105f, verticalAngularOffsetDeg = -8.896f, ringId = 15}, - new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = -8.380f, ringId = 16}, - new Laser {horizontalAngularOffsetDeg = 3.044f, verticalAngularOffsetDeg = -7.903f, ringId = 17}, - new Laser {horizontalAngularOffsetDeg = 0.986f, verticalAngularOffsetDeg = -7.368f, ringId = 18}, - new Laser {horizontalAngularOffsetDeg = -1.082f, verticalAngularOffsetDeg = -6.845f, ringId = 19}, - new Laser {horizontalAngularOffsetDeg = -3.135f, verticalAngularOffsetDeg = -6.312f, ringId = 20}, - new Laser {horizontalAngularOffsetDeg = 3.047f, verticalAngularOffsetDeg = -5.840f, ringId = 21}, - new Laser {horizontalAngularOffsetDeg = 0.995f, verticalAngularOffsetDeg = -5.306f, ringId = 22}, - new Laser {horizontalAngularOffsetDeg = -1.064f, verticalAngularOffsetDeg = -4.771f, ringId = 23}, - new Laser {horizontalAngularOffsetDeg = -3.106f, verticalAngularOffsetDeg = -4.251f, ringId = 24}, - new Laser {horizontalAngularOffsetDeg = 3.071f, verticalAngularOffsetDeg = -3.779f, ringId = 25}, - new Laser {horizontalAngularOffsetDeg = 1.013f, verticalAngularOffsetDeg = -3.240f, ringId = 26}, - new Laser {horizontalAngularOffsetDeg = -1.036f, verticalAngularOffsetDeg = -2.714f, ringId = 27}, - new Laser {horizontalAngularOffsetDeg = -3.082f, verticalAngularOffsetDeg = -2.189f, ringId = 28}, - new Laser {horizontalAngularOffsetDeg = 3.080f, verticalAngularOffsetDeg = -1.717f, ringId = 29}, - new Laser {horizontalAngularOffsetDeg = 1.031f, verticalAngularOffsetDeg = -1.187f, ringId = 30}, - new Laser {horizontalAngularOffsetDeg = -1.016f, verticalAngularOffsetDeg = -0.650f, ringId = 31}, - new Laser {horizontalAngularOffsetDeg = -3.076f, verticalAngularOffsetDeg = -0.125f, ringId = 32}, - new Laser {horizontalAngularOffsetDeg = 3.103f, verticalAngularOffsetDeg = 0.347f, ringId = 33}, - new Laser {horizontalAngularOffsetDeg = 1.048f, verticalAngularOffsetDeg = 0.874f, ringId = 34}, - new Laser {horizontalAngularOffsetDeg = -1.008f, verticalAngularOffsetDeg = 1.405f, ringId = 35}, - new Laser {horizontalAngularOffsetDeg = -3.062f, verticalAngularOffsetDeg = 1.936f, ringId = 36}, - new Laser {horizontalAngularOffsetDeg = 3.114f, verticalAngularOffsetDeg = 2.406f, ringId = 37}, - new Laser {horizontalAngularOffsetDeg = 1.066f, verticalAngularOffsetDeg = 2.937f, ringId = 38}, - new Laser {horizontalAngularOffsetDeg = -0.995f, verticalAngularOffsetDeg = 3.466f, ringId = 39}, - new Laser {horizontalAngularOffsetDeg = -3.055f, verticalAngularOffsetDeg = 4.002f, ringId = 40}, - new Laser {horizontalAngularOffsetDeg = 3.134f, verticalAngularOffsetDeg = 4.472f, ringId = 41}, - new Laser {horizontalAngularOffsetDeg = 1.076f, verticalAngularOffsetDeg = 4.999f, ringId = 42}, - new Laser {horizontalAngularOffsetDeg = -0.980f, verticalAngularOffsetDeg = 5.530f, ringId = 43}, - new Laser {horizontalAngularOffsetDeg = -3.052f, verticalAngularOffsetDeg = 6.066f, ringId = 44}, - new Laser {horizontalAngularOffsetDeg = 3.156f, verticalAngularOffsetDeg = 6.538f, ringId = 45}, - new Laser {horizontalAngularOffsetDeg = 1.099f, verticalAngularOffsetDeg = 7.063f, ringId = 46}, - new Laser {horizontalAngularOffsetDeg = -0.972f, verticalAngularOffsetDeg = 7.597f, ringId = 47}, - new Laser {horizontalAngularOffsetDeg = -3.031f, verticalAngularOffsetDeg = 8.144f, ringId = 48}, - new Laser {horizontalAngularOffsetDeg = 3.175f, verticalAngularOffsetDeg = 8.612f, ringId = 49}, - new Laser {horizontalAngularOffsetDeg = 1.110f, verticalAngularOffsetDeg = 9.137f, ringId = 50}, - new Laser {horizontalAngularOffsetDeg = -0.959f, verticalAngularOffsetDeg = 9.672f, ringId = 51}, - new Laser {horizontalAngularOffsetDeg = -3.034f, verticalAngularOffsetDeg = 10.218f, ringId = 52}, - new Laser {horizontalAngularOffsetDeg = 3.204f, verticalAngularOffsetDeg = 10.695f, ringId = 53}, - new Laser {horizontalAngularOffsetDeg = 1.132f, verticalAngularOffsetDeg = 11.215f, ringId = 54}, - new Laser {horizontalAngularOffsetDeg = -0.964f, verticalAngularOffsetDeg = 11.757f, ringId = 55}, - new Laser {horizontalAngularOffsetDeg = -3.065f, verticalAngularOffsetDeg = 12.316f, ringId = 56}, - new Laser {horizontalAngularOffsetDeg = 3.244f, verticalAngularOffsetDeg = 12.791f, ringId = 57}, - new Laser {horizontalAngularOffsetDeg = 1.140f, verticalAngularOffsetDeg = 13.321f, ringId = 58}, - new Laser {horizontalAngularOffsetDeg = -0.963f, verticalAngularOffsetDeg = 13.860f, ringId = 59}, - new Laser {horizontalAngularOffsetDeg = -3.066f, verticalAngularOffsetDeg = 14.423f, ringId = 60}, - new Laser {horizontalAngularOffsetDeg = 3.282f, verticalAngularOffsetDeg = 14.925f, ringId = 61}, - new Laser {horizontalAngularOffsetDeg = 1.169f, verticalAngularOffsetDeg = 15.458f, ringId = 62}, - new Laser {horizontalAngularOffsetDeg = -0.971f, verticalAngularOffsetDeg = 16.011f, ringId = 63}, - new Laser {horizontalAngularOffsetDeg = -3.108f, verticalAngularOffsetDeg = 16.598f, ringId = 64}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -12.93f, ringId = 128, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -12.73f, ringId = 127, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -12.53f, ringId = 126, timeOffset = 0.008240f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -12.33f, ringId = 125, timeOffset = 0.004112f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -12.13f, ringId = 124, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -11.93f, ringId = 123, timeOffset = 0.008240f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -11.73f, ringId = 122, timeOffset = 0.0f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -11.53f, ringId = 121, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -11.33f, ringId = 120, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -11.13f, ringId = 119, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -10.93f, ringId = 118, timeOffset = 0.004112f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -10.73f, ringId = 117, timeOffset = 0.008264f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -10.53f, ringId = 116, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -10.33f, ringId = 115, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -10.13f, ringId = 114, timeOffset = 0.008264f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -9.93f, ringId = 113, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -9.73f, ringId = 112, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -9.53f, ringId = 111, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -9.33f, ringId = 110, timeOffset = 0.004112f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -9.13f, ringId = 109, timeOffset = 0.008240f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -8.93f, ringId = 108, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -8.73f, ringId = 107, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -8.53f, ringId = 106, timeOffset = 0.0f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -8.33f, ringId = 105, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -8.13f, ringId = 104, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -7.93f, ringId = 103, timeOffset = 0.008264f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -7.73f, ringId = 102, timeOffset = 0.004112f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -7.53f, ringId = 101, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -7.33f, ringId = 100, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -7.13f, ringId = 99, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -6.93f, ringId = 98, timeOffset = 0.008264f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -6.73f, ringId = 97, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -6.53f, ringId = 96, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -6.33f, ringId = 95, timeOffset = 0.004976f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -6.13f, ringId = 94, timeOffset = 0.006616f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -5.93f, ringId = 93, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -5.73f, ringId = 92, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -5.53f, ringId = 91, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -5.33f, ringId = 90, timeOffset = 0.000848f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -5.13f, ringId = 89, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -4.93f, ringId = 88, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -4.73f, ringId = 87, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -4.53f, ringId = 86, timeOffset = 0.004976f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -4.33f, ringId = 85, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -4.13f, ringId = 84, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -3.93f, ringId = 83, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -3.73f, ringId = 82, timeOffset = 0.010768f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = -3.53f, ringId = 81, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -3.33f, ringId = 80, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -3.13f, ringId = 79, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -2.93f, ringId = 78, timeOffset = 0.004976f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -2.73f, ringId = 77, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -2.53f, ringId = 76, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -2.33f, ringId = 75, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -2.13f, ringId = 74, timeOffset = 0.002504f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -1.93f, ringId = 73, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -1.73f, ringId = 72, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -1.53f, ringId = 71, timeOffset = 0.004976f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -1.33f, ringId = 70, timeOffset = 0.013280f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -1.13f, ringId = 69, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -0.93f, ringId = 68, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -0.73f, ringId = 67, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = -0.53f, ringId = 66, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = -0.33f, ringId = 65, timeOffset = 0.013280f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = -0.13f, ringId = 64, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 0.07f, ringId = 63, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 0.27f, ringId = 62, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 0.47f, ringId = 61, timeOffset = 0.002504f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 0.67f, ringId = 60, timeOffset = 0.004976f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 0.87f, ringId = 59, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 1.07f, ringId = 58, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 1.27f, ringId = 57, timeOffset = 0.014928f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 1.47f, ringId = 56, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 1.67f, ringId = 55, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 1.87f, ringId = 54, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 2.07f, ringId = 53, timeOffset = 0.004976f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 2.27f, ringId = 52, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 2.47f, ringId = 51, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 2.67f, ringId = 50, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 2.87f, ringId = 49, timeOffset = 0.000848f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 3.07f, ringId = 48, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 3.27f, ringId = 47, timeOffset = 0.013280f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 3.47f, ringId = 46, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 3.67f, ringId = 45, timeOffset = 0.004976f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 3.87f, ringId = 44, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 4.07f, ringId = 43, timeOffset = 0.002504f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 4.27f, ringId = 42, timeOffset = 0.000848f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 4.47f, ringId = 41, timeOffset = 0.010768f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 4.67f, ringId = 40, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 4.87f, ringId = 39, timeOffset = 0.014928f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 5.07f, ringId = 38, timeOffset = 0.010768f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 5.27f, ringId = 37, timeOffset = 0.006616f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 5.47f, ringId = 36, timeOffset = 0.004976f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 5.67f, ringId = 35, timeOffset = 0.009112f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 5.87f, ringId = 34, timeOffset = 0.006616f, minRange = 7.2f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 6.07f, ringId = 33, timeOffset = 0.004112f, minRange = 0.5f, maxRange = 200f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 6.27f, ringId = 32, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 6.47f, ringId = 31, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 6.67f, ringId = 30, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 6.87f, ringId = 29, timeOffset = 0.0f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 7.07f, ringId = 28, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 7.27f, ringId = 27, timeOffset = 0.012424f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 7.47f, ringId = 26, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 7.67f, ringId = 25, timeOffset = 0.008264f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 7.87f, ringId = 24, timeOffset = 0.004112f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 8.07f, ringId = 23, timeOffset = 0.004112f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 8.27f, ringId = 22, timeOffset = 0.008240f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 8.47f, ringId = 21, timeOffset = 0.008240f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 8.67f, ringId = 20, timeOffset = 0.008264f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 8.87f, ringId = 19, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 2.4f, verticalAngularOffsetDeg = 9.07f, ringId = 18, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -0.65f, verticalAngularOffsetDeg = 9.27f, ringId = 17, timeOffset = 0.012424f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 9.47f, ringId = 16, timeOffset = 0.004112f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 9.67f, ringId = 15, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 9.87f, ringId = 14, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 10.07f, ringId = 13, timeOffset = 0.0f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 10.27f, ringId = 12, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 10.47f, ringId = 11, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 10.67f, ringId = 10, timeOffset = 0.0f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 10.87f, ringId = 9, timeOffset = 0.012424f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 11.07f, ringId = 8, timeOffset = 0.008264f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 11.27f, ringId = 7, timeOffset = 0.008240f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 11.47f, ringId = 6, timeOffset = 0.004144f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 11.67f, ringId = 5, timeOffset = 0.008264f, minRange = 0.5f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 11.87f, ringId = 4, timeOffset = 0.008240f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 12.07f, ringId = 3, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = -2.4f, verticalAngularOffsetDeg = 12.27f, ringId = 2, timeOffset = 0.012376f, minRange = 7.2f, maxRange = 100f}, + new Laser {horizontalAngularOffsetDeg = 0.65f, verticalAngularOffsetDeg = 12.47f, ringId = 1, timeOffset = 0.008264f, minRange = 0.5f, maxRange = 100f}, } }; } -} \ No newline at end of file +} diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs index 737a1335b..c6952040e 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs @@ -14,6 +14,7 @@ using System; using UnityEngine; +using System.Linq; namespace RGLUnityPlugin @@ -21,6 +22,21 @@ namespace RGLUnityPlugin [Serializable] public struct LidarConfiguration { + public enum RayGenerateMethod + { + // Rays are generated for rotating lidar with equal range for all of the lasers + RotatingLidarEqualRange, + // Rays are generated for rotating lidar with different ranges for the lasers + RotatingLidarDifferentLaserRanges, + // Rays are generated in specific way to HesaiAT128 lidar + HesaiAT128, + } + + /// + /// Method that rays are generated + /// + public RayGenerateMethod rayGenerateMethod; + /// /// Geometry description of lidar array /// @@ -41,10 +57,20 @@ public struct LidarConfiguration /// [Range(-360.0f, 360.0f)] public float maxHAngle; + /// + /// Minimum range of the sensor. + /// + [DrawIf("rayGenerateMethod", RayGenerateMethod.RotatingLidarEqualRange)] [Min(0)] public float minRange; + /// /// Maximum range of the sensor. /// - [Min(0)] public float maxRange; + [DrawIf("rayGenerateMethod", RayGenerateMethod.RotatingLidarEqualRange)] [Min(0)] public float maxRange; + + /// + /// Time between two consecutive firings of the whole laser array (in milliseconds). Usually, it consists of firing time for all the lasers and recharge time. + /// + [Min(0)] public float laserArrayCycleTime; /// /// Lidar noise paramteres @@ -56,6 +82,8 @@ public struct LidarConfiguration public Matrix4x4[] GetRayPoses() { + // Ray poses are generated the same way for all of the RayGenerateMethod's + if (!(minHAngle <= maxHAngle)) { throw new ArgumentOutOfRangeException(nameof(minHAngle), @@ -90,12 +118,72 @@ public Matrix4x4[] GetRayPoses() return rayPose; } + public Vector2[] GetRayRanges() + { + return rayGenerateMethod switch + { + RayGenerateMethod.RotatingLidarEqualRange => new Vector2[1] {new Vector2(minRange, maxRange)}, + RayGenerateMethod.RotatingLidarDifferentLaserRanges => GetRayRangesFromLasers(), + RayGenerateMethod.HesaiAT128 => GetRayRangesHesaiAT128(), + _ => throw new ArgumentOutOfRangeException(), + }; + } + + private Vector2[] GetRayRangesFromLasers() + { + Vector2[] rayRanges = new Vector2[PointCloudSize]; + Vector2[] laserRanges = laserArray.GetLaserRanges(); + for (int i = 0; i < HorizontalSteps; i++) + { + Array.Copy(laserRanges, 0, rayRanges, i * laserRanges.Length, laserRanges.Length); + } + return rayRanges; + } + + private Vector2[] GetRayRangesHesaiAT128() + { + // All channels fire laser pulses that measure the far field (＞ 7.2 m) + // Additionally, the NF-enabled channels also fire laser pulses that measure only the near field (0.5 to 7.2 m), at a time other + // than these channels' far field firings. + // NF-enabled channels are marked with minRange set to NEAR_FIELD_MIN_RANGE. + const float NEAR_FIELD_MIN_RANGE = 0.5f; + const float FAR_FIELD_MIN_RANGE = 7.2f; + + Vector2[] rayRanges = new Vector2[PointCloudSize]; + Vector2[] laserRanges = laserArray.GetLaserRanges(); + for (int i = 0; i < PointCloudSize; i++) + { + rayRanges[i] = laserRanges[i % laserRanges.Length]; + // The horizontal resolution for the near field is 2 times greater than for the far field. + // To simulate it, every second minimum range of the ray will be set for the far field. + if (rayRanges[i].x == NEAR_FIELD_MIN_RANGE && (i / laserRanges.Length) % 2 == 1) + { + rayRanges[i].x = FAR_FIELD_MIN_RANGE; + } + } + return rayRanges; + } + + public float[] GetRayTimeOffsets() + { + float[] rayTimeOffsets = new float[PointCloudSize]; + for (int hStep = 0; hStep < HorizontalSteps; hStep++) + { + for (int laserId = 0; laserId < laserArray.lasers.Length; laserId++) + { + int idx = laserId + hStep * laserArray.lasers.Length; + rayTimeOffsets[idx] = laserArray.lasers[laserId].timeOffset + laserArrayCycleTime * hStep; + } + } + return rayTimeOffsets; + } + /// /// Returns transform from the attached game object to the LiDAR origin. /// public Matrix4x4 GetLidarOriginTransfrom() { - return Matrix4x4.Translate(Vector3.up * (laserArray.centerOfMeasurementVerticalLinearOffsetMm / 1000.0f)); + return Matrix4x4.Translate(laserArray.centerOfMeasurementLinearOffsetMm / 1000.0f); } public static LidarNoiseParams TypicalNoiseParams => new LidarNoiseParams @@ -118,4 +206,4 @@ public Matrix4x4 GetLidarOriginTransfrom() distanceNoiseMean = 0.0f, }; } -} \ No newline at end of file +} diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs index 265a6ba39..0350908f6 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs @@ -29,6 +29,7 @@ public static class LidarConfigurationLibrary {LidarModel.HesaiPandarQT, HesaiPandarQT}, {LidarModel.HesaiPandar40P, HesaiPandar40P}, {LidarModel.OusterOS1_64, OusterOS1_64}, + {LidarModel.HesaiAT128E2X, HesaiAT128E2X}, }; public static LidarConfiguration RangeMeter => new LidarConfiguration @@ -37,8 +38,10 @@ public static class LidarConfigurationLibrary horizontalResolution = 1.0f, minHAngle = -0, maxHAngle = 0, - maxRange = 40, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 40, }; public static LidarConfiguration SickMRS6000 => new LidarConfiguration @@ -47,63 +50,80 @@ public static class LidarConfigurationLibrary horizontalResolution = 240.0f / 924.0f, minHAngle = -120, maxHAngle = 120, - maxRange = 40, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 40, }; public static LidarConfiguration VelodyneVLP16 => new LidarConfiguration { laserArray = LaserArrayLibrary.VelodyneVLP16, horizontalResolution = 0.2f, + laserArrayCycleTime = 0.055296f, minHAngle = 0.0f, maxHAngle = 360.0f, - maxRange = 100.0f, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 100.0f, }; public static LidarConfiguration VelodyneVLP32C => new LidarConfiguration { laserArray = LaserArrayLibrary.VelodyneVLP32C, horizontalResolution = 0.2f, + laserArrayCycleTime = 0.055296f, minHAngle = 0.0f, maxHAngle = 360.0f, - maxRange = 200.0f, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 200.0f, }; public static LidarConfiguration VelodyneVLS128 => new LidarConfiguration { laserArray = LaserArrayLibrary.VelodyneVLS128, horizontalResolution = 0.2f, + laserArrayCycleTime = 0.0585688f, minHAngle = 0.0f, maxHAngle = 360.0f, - maxRange = 300.0f, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 300.0f, }; public static LidarConfiguration HesaiPandarQT => new LidarConfiguration { laserArray = LaserArrayLibrary.HesaiPandarQT, horizontalResolution = 0.6f, + laserArrayCycleTime = 0.16667f, minHAngle = 0.0f, maxHAngle = 360.0f, - maxRange = 20.0f, // Yes, 20 meters, this is not a typo! noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, + maxRange = 20.0f, // Yes, 20 meters, this is not a typo! }; public static LidarConfiguration HesaiPandar40P => new LidarConfiguration { laserArray = LaserArrayLibrary.HesaiPandar40P, horizontalResolution = 0.2f, + laserArrayCycleTime = 0.05556f, minHAngle = 0.0f, maxHAngle = 360.0f, + noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, // documentation is unclear on max range; // on one hand there is "range capability" = 200m // on the other, in appendix beams have individual ranges assigned // that vary from 130m to 230m // as this template supports single-value range, 200m is chosen maxRange = 200.0f, - noiseParams = LidarConfiguration.TypicalNoiseParams, }; public static LidarConfiguration OusterOS1_64 => new LidarConfiguration @@ -112,8 +132,21 @@ public static class LidarConfigurationLibrary horizontalResolution = 360.0f / 1024.0f, minHAngle = 0.0f, maxHAngle = 360.0f, + noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.RotatingLidarEqualRange, + minRange = 0, maxRange = 120.0f, + }; + + public static LidarConfiguration HesaiAT128E2X => new LidarConfiguration + { + laserArray = LaserArrayLibrary.HesaiAT128E2X, + horizontalResolution = 0.2f, + laserArrayCycleTime = 0.041666f, + minHAngle = -60.0f, + maxHAngle = 60.0f, noiseParams = LidarConfiguration.TypicalNoiseParams, + rayGenerateMethod = LidarConfiguration.RayGenerateMethod.HesaiAT128, }; } } \ No newline at end of file diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarModels.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarModels.cs index 9699c4dc0..1107469b2 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarModels.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarModels.cs @@ -24,5 +24,6 @@ public enum LidarModel HesaiPandarQT, HesaiPandar40P, OusterOS1_64, + HesaiAT128E2X, } } \ No newline at end of file diff --git a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs index 77ee9877c..6cd7fa8ba 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs @@ -64,6 +64,11 @@ public class LidarSensor : MonoBehaviour /// public bool applyAngularGaussianNoise = true; + /// + /// Allows to quickly enable/disable velocity distortion + /// + public bool applyVelocityDistortion = false; + /// /// Encapsulates description of a point cloud generated by a LiDAR and allows for fine-tuning. /// @@ -75,10 +80,12 @@ public class LidarSensor : MonoBehaviour private SceneManager sceneManager; private readonly string lidarRaysNodeId = "LIDAR_RAYS"; + private readonly string lidarRangeNodeId = "LIDAR_RANGE"; private readonly string lidarRingsNodeId = "LIDAR_RINGS"; + private readonly string lidarTimeOffsetsNodeId = "LIDAR_OFFSETS"; private readonly string lidarPoseNodeId = "LIDAR_POSE"; private readonly string noiseLidarRayNodeId = "NOISE_LIDAR_RAY"; - private readonly string lidarRangeNodeId = "LIDAR_RAYTRACE"; + private readonly string lidarRaytraceNodeId = "LIDAR_RAYTRACE"; private readonly string noiseHitpointNodeId = "NOISE_HITPOINT"; private readonly string noiseDistanceNodeId = "NOISE_DISTANCE"; private readonly string pointsCompactNodeId = "POINTS_COMPACT"; @@ -87,14 +94,19 @@ public class LidarSensor : MonoBehaviour private LidarModel? validatedPreset; private float timer; + private Matrix4x4 lastTransform; + private Matrix4x4 currentTransform; + public void Awake() { rglGraphLidar = new RGLNodeSequence() .AddNodeRaysFromMat3x4f(lidarRaysNodeId, new Matrix4x4[1] {Matrix4x4.identity}) + .AddNodeRaysSetRange(lidarRangeNodeId, new Vector2[1] {new Vector2(0.0f, Mathf.Infinity)}) .AddNodeRaysSetRingIds(lidarRingsNodeId, new int[1] {0}) + .AddNodeRaysSetTimeOffsets(lidarTimeOffsetsNodeId, new float[1] {0}) .AddNodeRaysTransform(lidarPoseNodeId, Matrix4x4.identity) .AddNodeGaussianNoiseAngularRay(noiseLidarRayNodeId, 0, 0) - .AddNodeRaytrace(lidarRangeNodeId, Mathf.Infinity) + .AddNodeRaytrace(lidarRaytraceNodeId) .AddNodeGaussianNoiseAngularHitpoint(noiseHitpointNodeId, 0, 0) .AddNodeGaussianNoiseDistance(noiseDistanceNodeId, 0, 0, 0); @@ -118,6 +130,9 @@ public void Start() Destroy(this); } OnValidate(); + + // Apply initial transform of the sensor. + lastTransform = gameObject.transform.localToWorldMatrix; } public void OnValidate() @@ -147,8 +162,9 @@ private void ApplyConfiguration(LidarConfiguration newConfig) } rglGraphLidar.UpdateNodeRaysFromMat3x4f(lidarRaysNodeId, newConfig.GetRayPoses()) + .UpdateNodeRaysSetRange(lidarRangeNodeId, newConfig.GetRayRanges()) .UpdateNodeRaysSetRingIds(lidarRingsNodeId, newConfig.laserArray.GetLaserRingIds()) - .UpdateNodeRaytrace(lidarRangeNodeId, newConfig.maxRange) + .UpdateNodeRaysTimeOffsets(lidarTimeOffsetsNodeId, newConfig.GetRayTimeOffsets()) .UpdateNodeGaussianNoiseAngularRay(noiseLidarRayNodeId, newConfig.noiseParams.angularNoiseMean * Mathf.Deg2Rad, newConfig.noiseParams.angularNoiseStDev * Mathf.Deg2Rad) @@ -162,6 +178,12 @@ private void ApplyConfiguration(LidarConfiguration newConfig) var angularNoiseType = newConfig.noiseParams.angularNoiseType; rglGraphLidar.SetActive(noiseLidarRayNodeId, applyAngularGaussianNoise && angularNoiseType == AngularNoiseType.RayBased); rglGraphLidar.SetActive(noiseHitpointNodeId, applyAngularGaussianNoise && angularNoiseType == AngularNoiseType.HitpointBased); + + // If distortion is disabled, update raytrace node with no velocities provided (it disables distortion in native RGL library) + if (!applyVelocityDistortion) + { + rglGraphLidar.UpdateNodeRaytrace(lidarRaytraceNodeId); + } } public void FixedUpdate() @@ -173,9 +195,13 @@ public void FixedUpdate() timer += Time.deltaTime; + // Update last known transform of lidar. + UpdateTransforms(); + var interval = 1.0f / AutomaticCaptureHz; if (timer + 0.00001f < interval) return; + timer = 0; Capture(); @@ -217,7 +243,37 @@ public void Capture() rglGraphLidar.UpdateNodeRaysTransform(lidarPoseNodeId, lidarPose); rglSubgraphToLidarFrame.UpdateNodePointsTransform(toLidarFrameNodeId, lidarPose.inverse); + // Set lidar velocity + if (applyVelocityDistortion) + { + SetVelocityToRaytrace(); + } + rglGraphLidar.Run(); } + + public void UpdateTransforms() + { + lastTransform = currentTransform; + currentTransform = gameObject.transform.localToWorldMatrix; + } + + public void SetVelocityToRaytrace() + { + // Calculate delta transform of lidar. + // Velocities must be in sensor-local coordinate frame. + // Sensor linear velocity in m/s. + Vector3 globalLinearVelocity = (currentTransform.GetColumn(3) - lastTransform.GetColumn(3)) / Time.deltaTime; + Vector3 localLinearVelocity = gameObject.transform.InverseTransformDirection(globalLinearVelocity); + + Vector3 deltaRotation = Quaternion.LookRotation(currentTransform.GetColumn(2), currentTransform.GetColumn(1)).eulerAngles + - Quaternion.LookRotation(lastTransform.GetColumn(2), lastTransform.GetColumn(1)).eulerAngles; + // Fix delta rotation when switching between 0 and 360. + deltaRotation = new Vector3(Mathf.DeltaAngle(0, deltaRotation.x), Mathf.DeltaAngle(0, deltaRotation.y), Mathf.DeltaAngle(0, deltaRotation.z)); + // Sensor angular velocity in rad/s. + Vector3 localAngularVelocity = (deltaRotation * Mathf.Deg2Rad) / Time.deltaTime; + + rglGraphLidar.UpdateNodeRaytrace(lidarRaytraceNodeId, localLinearVelocity, localAngularVelocity); + } } } diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs index 89cd35900..0ac542dfd 100644 --- a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs +++ b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs @@ -19,7 +19,9 @@ public enum RGLNodeType UNKNOWN = -1, ANY = 0, RAYS_FROM_MAT3X4F = 1, + RAYS_SET_RANGE, RAYS_SET_RING_IDS, + RAYS_SET_TIME_OFFSETS, RAYS_TRANSFORM, POINTS_TRANSFORM, POINTS_FORMAT, diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs index f9f7b0082..271162f8f 100644 --- a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs +++ b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs @@ -72,9 +72,15 @@ public static class RGLNativeAPI [DllImport("RobotecGPULidar")] public static extern int rgl_node_rays_from_mat3x4f(ref IntPtr node, IntPtr rays, int ray_count); + [DllImport("RobotecGPULidar")] + public static extern int rgl_node_rays_set_range(ref IntPtr node, IntPtr ranges, int ranges_count); + [DllImport("RobotecGPULidar")] public static extern int rgl_node_rays_set_ring_ids(ref IntPtr node, IntPtr ring_ids, int ring_ids_count); + [DllImport("RobotecGPULidar")] + public static extern int rgl_node_rays_set_time_offsets(ref IntPtr node, IntPtr time_offsets, int time_offsets_count); + [DllImport("RobotecGPULidar")] public static extern int rgl_node_rays_transform(ref IntPtr node, IntPtr transform); @@ -82,7 +88,10 @@ public static class RGLNativeAPI public static extern int rgl_node_points_transform(ref IntPtr node, IntPtr transform); [DllImport("RobotecGPULidar")] - public static extern int rgl_node_raytrace(ref IntPtr node, IntPtr scene, float range); + public static extern int rgl_node_raytrace(ref IntPtr node, IntPtr scene); + + [DllImport("RobotecGPULidar")] + public static extern int rgl_node_raytrace_with_distortion(ref IntPtr node, IntPtr scene, IntPtr linear_velocity, IntPtr angular_velocity); [DllImport("RobotecGPULidar")] public static extern int rgl_node_points_format(ref IntPtr node, IntPtr fields, int field_count); @@ -178,7 +187,7 @@ static RGLNativeAPI() public static void CheckVersion() { int expectedMajor = 0; - int expectedMinor = 14; + int expectedMinor = 15; int expectedPatch = 0; CheckErr(rgl_get_version_info(out var major, out var minor, out var patch)); if (major != expectedMajor || minor < expectedMinor || (minor == expectedMinor && patch < expectedPatch)) @@ -249,6 +258,12 @@ public static void ConfigureLogging(RGLLogLevel logLevel, string path) CheckErr(rgl_configure_logging(logLevel, path, false)); } + + public static float[] IntoVec3f(Vector3 vec) + { + return new[] {vec.x, vec.y, vec.z}; + } + public static float[] IntoMat3x4f(Matrix4x4[] mats) { var matFloats = new float[mats.Length * 12]; @@ -273,6 +288,17 @@ public static float[] IntoMat3x4f(Matrix4x4 mat) return IntoMat3x4f(new[]{mat}); } + public static float[] IntoVec2f(Vector2[] vecs) + { + var vecFloats = new float[vecs.Length * 2]; + for (int i = 0; i < vecs.Length; ++i) + { + vecFloats[2 * i] = vecs[i].x; + vecFloats[2 * i + 1] = vecs[i].y; + } + return vecFloats; + } + public static void NodeRaysFromMat3x4f(ref IntPtr node, Matrix4x4[] rays) { var rayFloats = IntoMat3x4f(rays); @@ -286,6 +312,19 @@ public static void NodeRaysFromMat3x4f(ref IntPtr node, Matrix4x4[] rays) } } + public static void NodeRaysSetRange(ref IntPtr node, Vector2[] ranges) + { + var rangesFloats = IntoVec2f(ranges); + + unsafe + { + fixed (float* rangesFloatsPtr = rangesFloats) + { + CheckErr(rgl_node_rays_set_range(ref node, (IntPtr) rangesFloatsPtr, ranges.Length)); + } + } + } + public static void NodeRaysSetRingIds(ref IntPtr node, int[] ringIds) { unsafe @@ -297,6 +336,17 @@ public static void NodeRaysSetRingIds(ref IntPtr node, int[] ringIds) } } + public static void NodeRaysSetTimeOffsets(ref IntPtr node, float[] offsets) + { + unsafe + { + fixed (float* offsetsPtr = offsets) + { + CheckErr(rgl_node_rays_set_time_offsets(ref node, (IntPtr) offsetsPtr, offsets.Length)); + } + } + } + public static void NodeRaysTransform(ref IntPtr node, Matrix4x4 transform) { var tfFloats = IntoMat3x4f(transform); @@ -321,9 +371,27 @@ public static void NodePointsTransform(ref IntPtr node, Matrix4x4 transform) } } - public static void NodeRaytrace(ref IntPtr node, float range) + public static void NodeRaytrace(ref IntPtr node) { - CheckErr(rgl_node_raytrace(ref node, IntPtr.Zero, range)); + CheckErr(rgl_node_raytrace(ref node, IntPtr.Zero)); + } + + // Raytrace with velocity distortion + public static void NodeRaytrace(ref IntPtr node, Vector3 linearVelocity, Vector3 angularVelocity) + { + var linearVelocityFloats = IntoVec3f(linearVelocity); + var angularVelocityFloats = IntoVec3f(angularVelocity); + + unsafe + { + fixed (float* linearVelocityFloatsPtr = linearVelocityFloats) + { + fixed (float* angularVelocityFloatsPtr = angularVelocityFloats) + { + CheckErr(rgl_node_raytrace_with_distortion(ref node, IntPtr.Zero, (IntPtr) linearVelocityFloatsPtr, (IntPtr) angularVelocityFloatsPtr)); + } + } + } } public static void NodePointsFormat(ref IntPtr node, RGLField[] fields) diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs index b47578ec5..fdea09cfb 100644 --- a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs +++ b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs @@ -83,6 +83,17 @@ public RGLNodeSequence AddNodeRaysFromMat3x4f(string identifier, Matrix4x4[] ray return this; } + public RGLNodeSequence AddNodeRaysSetRange(string identifier, Vector2[] ranges) + { + CheckNodeNotExist(identifier); + RGLNodeHandle handle = new RGLNodeHandle(); + RGLNativeAPI.NodeRaysSetRange(ref handle.Node, ranges); + handle.Identifier = identifier; + handle.Type = RGLNodeType.RAYS_SET_RANGE; + AddNode(handle); + return this; + } + public RGLNodeSequence AddNodeRaysSetRingIds(string identifier, int[] ringIds) { CheckNodeNotExist(identifier); @@ -94,6 +105,17 @@ public RGLNodeSequence AddNodeRaysSetRingIds(string identifier, int[] ringIds) return this; } + public RGLNodeSequence AddNodeRaysSetTimeOffsets(string identifier, float[] offsets) + { + CheckNodeNotExist(identifier); + RGLNodeHandle handle = new RGLNodeHandle(); + RGLNativeAPI.NodeRaysSetTimeOffsets(ref handle.Node, offsets); + handle.Identifier = identifier; + handle.Type = RGLNodeType.RAYS_SET_TIME_OFFSETS; + AddNode(handle); + return this; + } + public RGLNodeSequence AddNodeRaysTransform(string identifier, Matrix4x4 transform) { CheckNodeNotExist(identifier); @@ -105,11 +127,11 @@ public RGLNodeSequence AddNodeRaysTransform(string identifier, Matrix4x4 transfo return this; } - public RGLNodeSequence AddNodeRaytrace(string identifier, float range) + public RGLNodeSequence AddNodeRaytrace(string identifier) { CheckNodeNotExist(identifier); RGLNodeHandle handle = new RGLNodeHandle(); - RGLNativeAPI.NodeRaytrace(ref handle.Node, range); + RGLNativeAPI.NodeRaytrace(ref handle.Node); handle.Identifier = identifier; handle.Type = RGLNodeType.RAYTRACE; AddNode(handle); @@ -256,6 +278,13 @@ public RGLNodeSequence UpdateNodeRaysFromMat3x4f(string identifier, Matrix4x4[] return this; } + public RGLNodeSequence UpdateNodeRaysSetRange(string identifier, Vector2[] ranges) + { + RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYS_SET_RANGE); + RGLNativeAPI.NodeRaysSetRange(ref handle.Node, ranges); + return this; + } + public RGLNodeSequence UpdateNodeRaysSetRingIds(string identifier, int[] ringIds) { RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYS_SET_RING_IDS); @@ -263,6 +292,13 @@ public RGLNodeSequence UpdateNodeRaysSetRingIds(string identifier, int[] ringIds return this; } + public RGLNodeSequence UpdateNodeRaysTimeOffsets(string identifier, float[] offsets) + { + RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYS_SET_TIME_OFFSETS); + RGLNativeAPI.NodeRaysSetTimeOffsets(ref handle.Node, offsets); + return this; + } + public RGLNodeSequence UpdateNodeRaysTransform(string identifier, Matrix4x4 transform) { RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYS_TRANSFORM); @@ -270,10 +306,17 @@ public RGLNodeSequence UpdateNodeRaysTransform(string identifier, Matrix4x4 tran return this; } - public RGLNodeSequence UpdateNodeRaytrace(string identifier, float range) + public RGLNodeSequence UpdateNodeRaytrace(string identifier) + { + RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYTRACE); + RGLNativeAPI.NodeRaytrace(ref handle.Node); + return this; + } + + public RGLNodeSequence UpdateNodeRaytrace(string identifier, Vector3 linearVelocity, Vector3 angularVelocity) { RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.RAYTRACE); - RGLNativeAPI.NodeRaytrace(ref handle.Node, range); + RGLNativeAPI.NodeRaytrace(ref handle.Node, linearVelocity, angularVelocity); return this; } diff --git a/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs b/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs new file mode 100644 index 000000000..c20e6e0a5 --- /dev/null +++ b/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs @@ -0,0 +1,103 @@ +using System; +using UnityEngine; +using UnityEditor; + +namespace RGLUnityPlugin +{ + /// + /// Draws the field/property ONLY if the compared property compared by the comparison type with the value of comparedValue returns true. + /// Based on: https://forum.unity.com/threads/draw-a-field-only-if-a-condition-is-met.448855/#post-3435603 + /// + [AttributeUsage(AttributeTargets.Property | AttributeTargets.Field, AllowMultiple = true)] + public class DrawIfAttribute : PropertyAttribute + { + #region Fields + + public string comparedPropertyName { get; private set; } + public object comparedValue { get; private set; } + + #endregion + + /// + /// Only draws the field only if a condition is met. Supports enum and bools. + /// + /// The name of the property that is being compared (case sensitive). + /// The value the property is being compared to. + public DrawIfAttribute(string comparedPropertyName, object comparedValue) + { + this.comparedPropertyName = comparedPropertyName; + this.comparedValue = comparedValue; + } + } + + #if UNITY_EDITOR + /// + /// Based on: https://forum.unity.com/threads/draw-a-field-only-if-a-condition-is-met.448855/#post-3435603 + /// + [CustomPropertyDrawer(typeof(DrawIfAttribute))] + public class DrawIfPropertyDrawer : PropertyDrawer + { + #region Fields + + // Reference to the attribute on the property. + DrawIfAttribute drawIf; + + // Field that is being compared. + SerializedProperty comparedField; + + #endregion + + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) + { + if (!ShowMe(property)) + { + return 0f; + } + + // The height of the property should be defaulted to the default height. + return base.GetPropertyHeight(property, label); + } + + /// + /// Errors default to showing the property. + /// + private bool ShowMe(SerializedProperty property) + { + drawIf = attribute as DrawIfAttribute; + // Replace propertyname to the value from the parameter + string path = property.propertyPath.Contains(".") + ? System.IO.Path.ChangeExtension(property.propertyPath, drawIf.comparedPropertyName) + : drawIf.comparedPropertyName; + + comparedField = property.serializedObject.FindProperty(path); + + if (comparedField == null) + { + Debug.LogError("Cannot find property with name: " + path); + return true; + } + + // Get the value & compare based on types + switch (comparedField.type) + { // Possible extend cases to support more types + case "bool": + return comparedField.boolValue.Equals(drawIf.comparedValue); + case "Enum": + return comparedField.enumValueIndex.Equals((int)drawIf.comparedValue); + default: + Debug.LogError("Error: " + comparedField.type + " is not supported of " + path); + return true; + } + } + + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) + { + // If the condition is met, simply draw the field. + if (ShowMe(property)) + { + EditorGUI.PropertyField(position, property, label); + } + } + } + #endif +} diff --git a/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs.meta b/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs.meta new file mode 100644 index 000000000..b15e61ff7 --- /dev/null +++ b/Assets/RGLUnityPlugin/Scripts/Utilities/DrawIfAttribute.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e7763bbee1fb7e989b44458b3795b12b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index 1441b459d..023195cf8 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -597,7 +597,7 @@ PlayerSettings: webGLThreadsSupport: 0 webGLDecompressionFallback: 0 scriptingDefineSymbols: - 1: UNITY_CCU;ALLOW_AUTHORING;ROS2 + 1: UNITY_CCU;ALLOW_AUTHORING;ROS2;ENABLE_RAYTRACING additionalCompilerArguments: {} platformArchitecture: {} scriptingBackend: diff --git a/docs/Components/Sensors/LiDARSensor/AddNewLiDAR/img/LidarSensorProp.png b/docs/Components/Sensors/LiDARSensor/AddNewLiDAR/img/LidarSensorProp.png deleted file mode 100644 index f33e059d3..000000000 Binary files a/docs/Components/Sensors/LiDARSensor/AddNewLiDAR/img/LidarSensorProp.png and /dev/null differ diff --git a/docs/Components/Sensors/LiDARSensor/LiDARSensor/imgs_prefabs/at128e2x.png b/docs/Components/Sensors/LiDARSensor/LiDARSensor/imgs_prefabs/at128e2x.png new file mode 100644 index 000000000..584af9ff9 Binary files /dev/null and b/docs/Components/Sensors/LiDARSensor/LiDARSensor/imgs_prefabs/at128e2x.png differ diff --git a/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md b/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md index c8213e6a6..83f2ea38f 100644 --- a/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md +++ b/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md @@ -39,6 +39,7 @@ The table of available prefabs can be found below: | :-------------------- | :----------------------- | :----------------------------------------------- | | *HESAI Pandar40P* | `HesaiPandar40P.prefab` | | | *HESAI PandarQT64* | `HesaiPandarQT64.prefab` | | +| *HESAI AT128 E2X* | `HesaiAT128E2X.prefab` | | | *Ouster OS1-64* | `OusterOS1-64.prefab` | | | *Velodyne VLP-16* | `VelodyneVLP16.prefab` | | | *Velodyne VLC-32C* | `VelodyneVLP32C.prefab` | | @@ -99,12 +100,18 @@ Whereas vector *onlyHits* is used for visualization by the [*PointCloudVisualiza - `Model Preset` - allows selecting one of the built-in *LiDAR* models (default: `RangeMeter`) - `Apply Distance Gaussian Noise` - enable/disable distance *Gaussian* noise (default: `true`) - `Apply Angular Gaussian Noise` - enable/disable angular *Gaussian* noise (default: `true`) +- `Apply Velocity Distortion` - enable/disable velocity distortion (default: `false`) - *Configuration*: - - `Laser Array` - geometry description of lidar array, should be prepared on the basis of the manual for a given model of *LiDAR* (default: loaded from `LaserArrayLibrary`) - - `Horizontal Steps` - the number of laser array firings between `Min H Angle` and `Max H Angle` (default: `1`) + - `Ray Generate Method` - method that lidar's rays are generated: + 1. `Rotating Lidar Equal Range` - rays are generated for rotating lidar with equal range for all of the lasers (described with `Min Range` and `Max Range`) + 2. `Rotating Lidar Different Laser Ranges` - rays are generated for rotating lidar with different ranges for the lasers (described in `Laser Array`) + 3. `Hesai AT128` - rays are generated in specific way to Hesai AT128 lidar + - `Laser Array` - geometry description of lidar's array of lasers, should be prepared on the basis of the manual for a given model of *LiDAR* (default: loaded from `LaserArrayLibrary`) + - `Horizontal Resolution` - the horiontal resolution of laser array firings - `Min H Angle` - minimum horizontal angle, left (default: `0`) - `Max H Angle` - maximum horizontal angle, right (default: `0`) - - `Max Range` - maximum range of the sensor (default: `40`) + - `Min Range` - minimum range of the sensor (applied when `Ray Generate Method` is `Rotating Lidar Equal Range`) + - `Max Range` - maximum range of the sensor (applied when `Ray Generate Method` is `Rotating Lidar Equal Range`) - *Noise Params*: - `Angular Noise Type` - angular noise type
(default: `Ray Based`) - `Angular Noise St Dev` - angular noise standard deviation in degree
(default: `0.05729578`) diff --git a/docs/Components/Sensors/LiDARSensor/LiDARSensor/script.png b/docs/Components/Sensors/LiDARSensor/LiDARSensor/script.png index 61e57549b..6af404caa 100644 Binary files a/docs/Components/Sensors/LiDARSensor/LiDARSensor/script.png and b/docs/Components/Sensors/LiDARSensor/LiDARSensor/script.png differ