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Make LiDARs have their copy of the configuration
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@msz-rai
msz-rai committed Feb 5, 2024
1 parent 05ff0f9 commit 81cf8be
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302 changes: 146 additions & 156 deletions Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs
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Expand Up @@ -12,180 +12,170 @@
// See the License for the specific language governing permissions and
// limitations under the License.

using System;
using System.Collections.Generic;

namespace RGLUnityPlugin
{
public static class LidarConfigurationLibrary
{
public static readonly Dictionary<LidarModel, BaseLidarConfiguration> ByModel =
new Dictionary<LidarModel, BaseLidarConfiguration>
public static readonly Dictionary<LidarModel, Func<BaseLidarConfiguration>> ByModel =
new Dictionary<LidarModel, Func<BaseLidarConfiguration>>
{
{LidarModel.RangeMeter, RangeMeter},
{LidarModel.SickMRS6000, SickMRS6000},
{LidarModel.VelodyneVLP16, VelodyneVLP16},
{LidarModel.VelodyneVLP32C, VelodyneVLP32C},
{LidarModel.VelodyneVLS128, VelodyneVLS128},
{LidarModel.HesaiPandarQT, HesaiPandarQT},
{LidarModel.HesaiPandar40P, HesaiPandar40P},
{LidarModel.OusterOS1_64, OusterOS1_64},
{LidarModel.HesaiAT128E2X, HesaiAT128E2X},
{LidarModel.HesaiPandarXT32, HesaiPandarXT32},
{LidarModel.HesaiQT128C2X, HesaiQT128C2X},
{LidarModel.HesaiPandar128E4X, HesaiPandar128E4X},
};
{LidarModel.RangeMeter, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArray.Uniform(-0.0f, 0.0f, 1),
horizontalResolution = 1.0f,
minHAngle = -0,
maxHAngle = 0,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 40,
beamDivergence = 0.13f,
}},

{LidarModel.SickMRS6000, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArray.Uniform(-15f, 1.5f, 24),
horizontalResolution = 240.0f / 924.0f,
minHAngle = -120,
maxHAngle = 120,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 40,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration RangeMeter => new UniformRangeLidarConfiguration
{
laserArray = LaserArray.Uniform(-0.0f, 0.0f, 1),
horizontalResolution = 1.0f,
minHAngle = -0,
maxHAngle = 0,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 40,
beamDivergence = 0.13f,
};
{LidarModel.VelodyneVLP16, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLP16,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055296f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 100.0f,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration SickMRS6000 => new UniformRangeLidarConfiguration
{
laserArray = LaserArray.Uniform(-15f, 1.5f, 24),
horizontalResolution = 240.0f / 924.0f,
minHAngle = -120,
maxHAngle = 120,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 40,
beamDivergence = 0.13f,
};
{LidarModel.VelodyneVLP32C, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLP32C,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055296f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 200.0f,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration VelodyneVLP16 => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLP16,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055296f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 100.0f,
beamDivergence = 0.13f,
};
{LidarModel.VelodyneVLS128, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLS128,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.0585688f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 300.0f,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration VelodyneVLP32C => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLP32C,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055296f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 200.0f,
beamDivergence = 0.13f,
};

public static BaseLidarConfiguration VelodyneVLS128 => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.VelodyneVLS128,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.0585688f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 300.0f,
beamDivergence = 0.13f,
};
{LidarModel.HesaiPandarQT, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandarQT,
horizontalResolution = 0.6f,
laserArrayCycleTime = 0.16667f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 20.0f, // Yes, 20 meters, this is not a typo!
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiPandarQT => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandarQT,
horizontalResolution = 0.6f,
laserArrayCycleTime = 0.16667f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 20.0f, // Yes, 20 meters, this is not a typo!
beamDivergence = 0.13f,
};
{LidarModel.HesaiPandar40P, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandar40P,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.05556f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
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,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiPandar40P => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandar40P,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.05556f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
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,
beamDivergence = 0.13f,
};

public static BaseLidarConfiguration OusterOS1_64 => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.OusterOS1_64,
horizontalResolution = 360.0f / 1024.0f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 120.0f,
beamDivergence = 0.13f,
};
{LidarModel.OusterOS1_64, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.OusterOS1_64,
horizontalResolution = 360.0f / 1024.0f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0,
maxRange = 120.0f,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiAT128E2X => new HesaiAT128LidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiAT128E2X,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.041666f,
minHAngle = -60.0f,
maxHAngle = 60.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
};
{LidarModel.HesaiAT128E2X, () => new HesaiAT128LidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiAT128E2X,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.041666f,
minHAngle = -60.0f,
maxHAngle = 60.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiPandarXT32 => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandarXT32,
horizontalResolution = 0.18f,
laserArrayCycleTime = 0.05f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0.05f,
maxRange = 120.0f,
beamDivergence = 0.13f,
};
{LidarModel.HesaiPandarXT32, () => new UniformRangeLidarConfiguration
{
laserArray = LaserArrayLibrary.HesaiPandarXT32,
horizontalResolution = 0.18f,
laserArrayCycleTime = 0.05f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
minRange = 0.05f,
maxRange = 120.0f,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiQT128C2X => new HesaiQT128C2XLidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiQT128C2X,
horizontalResolution = 0.8f,
laserArrayCycleTime = 0.11111f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
};
{LidarModel.HesaiQT128C2X, () => new HesaiQT128C2XLidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiQT128C2X,
horizontalResolution = 0.8f,
laserArrayCycleTime = 0.11111f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
}},

public static BaseLidarConfiguration HesaiPandar128E4X => new HesaiPandar128E4XLidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiPandar128E4X,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055556f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
highResolutionModeEnabled = false,
};
{LidarModel.HesaiPandar128E4X, () => new HesaiPandar128E4XLidarConfiguration()
{
laserArray = LaserArrayLibrary.HesaiPandar128E4X,
horizontalResolution = 0.2f,
laserArrayCycleTime = 0.055556f,
minHAngle = 0.0f,
maxHAngle = 360.0f,
noiseParams = LidarNoiseParams.TypicalNoiseParams,
beamDivergence = 0.13f,
highResolutionModeEnabled = false,
}},
};
}
}
5 changes: 2 additions & 3 deletions Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
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Expand Up @@ -68,9 +68,8 @@ public class LidarSensor : MonoBehaviour
/// <summary>
/// Encapsulates description of a point cloud generated by a LiDAR and allows for fine-tuning.
/// </summary>
// It is safer to refer to concrete property instead of using dictionary here because of static initialization order.
[SerializeReference]
public BaseLidarConfiguration configuration = LidarConfigurationLibrary.RangeMeter;
public BaseLidarConfiguration configuration = LidarConfigurationLibrary.ByModel[LidarModel.RangeMeter]();

private RGLNodeSequence rglGraphLidar;
private RGLNodeSequence rglSubgraphCompact;
Expand Down Expand Up @@ -157,7 +156,7 @@ public void OnValidate()
bool firstValidation = validatedPreset == null;
if (!firstValidation && presetChanged)
{
configuration = LidarConfigurationLibrary.ByModel[modelPreset];
configuration = LidarConfigurationLibrary.ByModel[modelPreset]();
}
ApplyConfiguration(configuration);
validatedPreset = modelPreset;
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2 changes: 1 addition & 1 deletion Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
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Expand Up @@ -185,7 +185,7 @@ private void ValidateLidarModel()
LidarModel? detectedUnityLidarModel = null;
foreach(var unityLidarModel in UnityToRGLLidarModelsMapping.Keys)
{
var unityLidarConfig = LidarConfigurationLibrary.ByModel[unityLidarModel];
var unityLidarConfig = LidarConfigurationLibrary.ByModel[unityLidarModel]();
if (modelToValidate.laserArray.lasers.SequenceEqual(unityLidarConfig.laserArray.lasers))
{
detectedUnityLidarModel = unityLidarModel;
Expand Down

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