From 6803a28d0738ef5b74a38d656356988289cb8ec4 Mon Sep 17 00:00:00 2001 From: Foucher Date: Wed, 20 Nov 2024 12:43:25 +0100 Subject: [PATCH 1/2] =?UTF-8?q?Add=20PanoramicCamera=20(360=C2=B0)=20and?= =?UTF-8?q?=20refractor=20CameraSensor?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Prefabs/Camera/PanoramicCamera.prefab | 103 +++ .../Camera/PanoramicCamera.prefab.meta | 7 + .../Scripts/Sensors/Camera/CameraSensor.cs | 68 +- .../Camera/DepthCamera/DepthCameraSensor.cs | 27 +- .../Sensors/Camera/PanoramicCamera.meta | 8 + .../PanoramicCamera/PanoramicCameraSensor.cs | 31 + .../PanoramicCameraSensor.cs.meta | 11 + .../Runtime/Shaders/Panoramic.shader | 96 +++ .../Runtime/Shaders/Panoramic.shader.meta | 9 + .../Samples/Camera/Demo_PanoramicCamera.unity | 742 ++++++++++++++++++ .../Camera/Demo_PanoramicCamera.unity.meta | 7 + .../Camera/CameraInfoMsgSerializer.cs | 2 +- 12 files changed, 1058 insertions(+), 53 deletions(-) create mode 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/dev/null +++ b/Assets/UnitySensors/Runtime/Prefabs/Camera/PanoramicCamera.prefab.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 52e28e39a14b84942b87b6309310868b +PrefabImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs index 95881da9..85492c6a 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs @@ -8,51 +8,43 @@ namespace UnitySensors.Sensor.Camera [RequireComponent(typeof(UnityEngine.Camera))] public abstract class CameraSensor : UnitySensor, ITextureInterface { - [SerializeField] - private Vector2Int _resolution = new Vector2Int(640, 480); - [SerializeField] - private float _fov = 30.0f; - [SerializeField] - private float _minRange = 0.05f; - [SerializeField] - private float _maxRange = 100.0f; + [field: SerializeField] public Vector2Int resolution { get; protected set; } = new(640, 480); + [field: SerializeField] public float fov { get; protected set; } = 30.0f; + [field: SerializeField] public float minRange { get; protected set; } = 0.05f; + [field: SerializeField] public float maxRange { get; protected set; } = 100.0f; - private UnityEngine.Camera _m_camera; - private RenderTexture _rt = null; - private Texture2D _texture; - private byte[] _data; - - public Vector2Int resolution { get => _resolution; } - protected float maxRange { get => _maxRange; } - public UnityEngine.Camera m_camera { get => _m_camera; } - public Texture2D texture { get => _texture; } - public byte[] data { get => _data; } - public int width { get => _resolution.x; } - public int height { get => _resolution.y; } - public string encoding { get => "rgb8"; } + public UnityEngine.Camera sensorCamera { get; protected set; } + public byte[] data { get; protected set; } + public string encoding { get; protected set; } + public int width { get => resolution.x; } + public int height { get => resolution.y; } + public Texture2D texture { get; protected set; } + protected RenderTexture _rt; protected override void Init() { - _m_camera = GetComponent(); - _m_camera.fieldOfView = _fov; - _m_camera.nearClipPlane = _minRange; - _m_camera.farClipPlane = _maxRange; - - _rt = new RenderTexture(_resolution.x, _resolution.y, 16, RenderTextureFormat.ARGB32); - _m_camera.targetTexture = _rt; + sensorCamera = GetComponent(); + sensorCamera.fieldOfView = fov; + sensorCamera.nearClipPlane = minRange; + sensorCamera.farClipPlane = maxRange; - _texture = new Texture2D(width, height, TextureFormat.RGB24, false); + if( _rt == null ) + { + _rt = new RenderTexture(width, height, 16, RenderTextureFormat.ARGB32); + sensorCamera.targetTexture = _rt; + } - _data = new byte[width * height * 3]; + texture = new Texture2D(width, height, TextureFormat.RGB24, false); + data = new byte[width * height * 3]; + encoding = "rgb8"; } protected override void UpdateSensor() { if (!LoadTexture()) return; - if (onSensorUpdated != null) - onSensorUpdated.Invoke(); + onSensorUpdated?.Invoke(); } protected bool LoadTexture() @@ -71,17 +63,17 @@ protected bool LoadTexture() int j=width*(height-1)*4; for(int y=0; y(_pointsNum, Allocator.Persistent); - float z = resolution.y * 0.5f / Mathf.Tan(m_camera.fieldOfView * 0.5f * Mathf.Deg2Rad); - for (int y = 0; y < resolution.y; y++) + float z = height * 0.5f / Mathf.Tan(sensorCamera.fieldOfView * 0.5f * Mathf.Deg2Rad); + for (int y = 0; y < height; y++) { - for (int x = 0; x < resolution.x; x++) + for (int x = 0; x < width; x++) { - Vector3 vec = new Vector3(-resolution.x / 2 + x, -resolution.y / 2 + y, z); - _directions[y * resolution.x + x] = vec.normalized; + Vector3 vec = new Vector3(-width / 2 + x, -height / 2 + y, z); + _directions[y * width + x] = vec.normalized; } } } @@ -79,12 +79,12 @@ private void SetupJob() _textureToPointsJob = new ITextureToPointsJob() 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assetBundleVariant: diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Camera/CameraInfoMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Camera/CameraInfoMsgSerializer.cs index 83cc110b..5d487193 100644 --- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Camera/CameraInfoMsgSerializer.cs +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Camera/CameraInfoMsgSerializer.cs @@ -19,7 +19,7 @@ public override void Init(CameraSensor sensor) public override CameraInfoMsg Serialize() { - _msg = CameraInfoGenerator.ConstructCameraInfoMessage(sensor.m_camera, _header.Serialize()); + _msg = CameraInfoGenerator.ConstructCameraInfoMessage(sensor.sensorCamera, _header.Serialize()); return _msg; } } From a613e9ce9b05b6b34033a3ccafc304474920bc49 Mon Sep 17 00:00:00 2001 From: Foucher Date: Wed, 20 Nov 2024 12:45:18 +0100 Subject: [PATCH 2/2] Add PanoramicCamera to the readme --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 35aef143..c271f6cd 100644 --- a/README.md +++ b/README.md @@ -29,6 +29,7 @@ The following sensors are available inside : - Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele, HAP, Mid360) - RGB Camera - RGBD Camera +- Panoramic Camera - IMU - GNSS - (GroundTruth)