Merge pull request #268 from tier4/feature/lidars-qt128-ot128-raw-pac…

…kets

Add raw packets support for Hesai QT128 & Hesai Pandar128E4X

Assets/RGLUnityPlugin/NebulaCalibrations/Pandar128E4X.csv

@@ -0,0 +1,129 @@
+Laser id,Elevation,Azimuth
+1,14.985,0.186
+2,13.283,0.185
+3,11.758,1.335
+4,10.483,1.343
+5,9.836,0.148
+6,9.171,0.147
+7,8.496,0.146
+8,7.812,0.146
+9,7.462,1.335
+10,7.115,1.336
+11,6.767,1.337
+12,6.416,1.338
+13,6.064,1.339
+14,5.71,1.34
+15,5.355,1.341
+16,4.998,1.342
+17,4.643,0.128
+18,4.282,0.128
+19,3.921,0.127
+20,3.558,0.127
+21,3.194,0.107
+22,2.829,0.106
+23,2.463,0.105
+24,2.095,0.105
+25,1.974,-3.118
+26,1.854,1.315
+27,1.729,4.529
+28,1.609,-3.121
+29,1.487,1.316
+30,1.362,4.532
+31,1.242,-3.124
+32,1.12,1.317
+33,0.995,4.536
+34,0.875,-3.127
+35,0.75,1.317
+36,0.625,4.539
+37,0.5,-3.13
+38,0.375,1.318
+39,0.25,4.542
+40,0.125,-3.133
+41,0,0.103
+42,-0.125,2.935
+43,-0.25,-1.517
+44,-0.375,0.103
+45,-0.5,2.937
+46,-0.626,-1.519
+47,-0.751,0.103
+48,-0.876,2.939
+49,-1.001,-1.52
+50,-1.126,0.103
+51,-1.251,2.941
+52,-1.377,-1.521
+53,-1.502,0.102
+54,-1.627,2.943
+55,-1.751,-1.523
+56,-1.876,0.102
+57,-2.001,2.945
+58,-2.126,-1.524
+59,-2.251,0.102
+60,-2.376,2.946
+61,-2.501,-1.526
+62,-2.626,0.102
+63,-2.751,2.948
+64,-2.876,-1.526
+65,-3.001,1.324
+66,-3.126,4.57
+67,-3.251,-3.155
+68,-3.376,1.325
+69,-3.501,4.573
+70,-3.626,-3.157
+71,-3.751,1.326
+72,-3.876,4.575
+73,-4.001,-3.159
+74,-4.126,1.326
+75,-4.25,4.578
+76,-4.375,-3.161
+77,-4.501,1.327
+78,-4.626,4.581
+79,-4.751,-3.163
+80,-4.876,1.328
+81,-5.001,4.583
+82,-5.126,-3.165
+83,-5.252,1.329
+84,-5.377,4.586
+85,-5.502,-3.167
+86,-5.626,1.329
+87,-5.752,4.588
+88,-5.877,-3.168
+89,-6.002,0.102
+90,-6.378,0.103
+91,-6.754,0.103
+92,-7.13,0.103
+93,-7.507,0.104
+94,-7.882,0.104
+95,-8.257,0.104
+96,-8.632,0.104
+97,-9.003,1.337
+98,-9.376,1.337
+99,-9.749,1.338
+100,-10.121,1.339
+101,-10.493,1.34
+102,-10.864,1.341
+103,-11.234,1.341
+104,-11.603,1.342
+105,-11.975,0.108
+106,-12.343,0.108
+107,-12.709,0.109
+108,-13.075,0.109
+109,-13.439,0.13
+110,-13.803,0.131
+111,-14.164,0.131
+112,-14.525,0.132
+113,-14.879,1.384
+114,-15.237,1.384
+115,-15.593,1.385
+116,-15.948,1.385
+117,-16.299,1.386
+118,-16.651,1.386
+119,-17,1.387
+120,-17.347,1.387
+121,-17.701,0.151
+122,-18.386,0.153
+123,-19.063,0.154
+124,-19.73,0.156
+125,-20.376,1.388
+126,-21.653,1.408
+127,-23.044,0.196
+128,-24.765,0.286

Assets/RGLUnityPlugin/NebulaCalibrations/PandarQT128.csv

@@ -0,0 +1,129 @@
+Laser id,Elevation,Azimuth
+1,-52.62676282,10.10830596
+2,-51.0280939,9.719503673
+3,-49.51495392,9.384265827
+4,-48.07394795,9.091433335
+5,-46.69466297,8.832899657
+6,-45.36882812,8.602605729
+7,-44.08974439,8.395920495
+8,-42.85190128,8.209210679
+9,-41.65069769,8.03961095
+10,-40.48225401,7.8848012
+11,-39.34326358,7.742887867
+12,-38.23088092,7.612311759
+13,-37.14263654,7.491771683
+14,-36.07637316,7.380164213
+15,-35.03019446,7.276562397
+16,-34.00242585,7.180171603
+17,-32.99157758,7.090302002
+18,-31.99631045,7.006369095
+19,-31.01543179,6.927848973
+20,-30.04786472,6.854295551
+21,-29.09262707,6.785306938
+22,-28.14883195,6.720536921
+23,-27.21566989,6.659666871
+24,-26.29240356,6.602428464
+25,-25.37835081,6.548569874
+26,-24.47288318,6.497872808
+27,-23.57542315,6.450129948
+28,-22.68544071,6.405178951
+29,-21.80243688,6.362840261
+30,-20.92594329,6.32298504
+31,-20.05553602,6.285467298
+32,-19.19081372,6.25017485
+33,-18.33139172,-6.21699538
+34,-17.47691901,-6.18583344
+35,-16.62705442,-6.156599148
+36,-15.78149317,-6.129208192
+37,-14.93993032,-6.103581848
+38,-14.10208035,-6.079663981
+39,-13.26767188,-6.057381402
+40,-12.43645574,-6.036683527
+41,-11.60818201,-6.017519726
+42,-10.78261371,-5.999833659
+43,-9.959523504,-5.983597281
+44,-9.138697037,-5.968771181
+45,-8.319929599,-5.955310246
+46,-7.503005408,-5.943192006
+47,-6.687807162,-5.926719867
+48,-5.873926875,-5.922876604
+49,-5.061393513,-5.914628713
+50,-4.249948322,-5.907639071
+51,-3.43941536,-5.901885097
+52,-2.629617595,-5.897355529
+53,-1.820378325,-5.894039091
+54,-1.011522452,-5.891935825
+55,-0.202883525,-5.89103442
+56,0.605717878,-5.89132922
+57,1.414444374,-5.892831558
+58,2.223469054,-5.895541414
+59,3.032962884,-5.899458754
+60,3.8431104,-5.904600534
+61,4.654074511,-5.910966684
+62,5.466034723,-5.918579795
+63,6.279180222,-5.927451101
+64,7.093696848,-5.937608821
+65,7.909760474,5.949064148
+66,8.727579858,5.961845258
+67,9.54735011,5.97598597
+68,10.36927364,5.99150874
+69,11.19356846,6.008464331
+70,12.0204614,6.026875139
+71,12.85016831,6.046797524
+72,13.68294669,6.068282136
+73,14.51903314,6.091373918
+74,15.35869922,6.116134758
+75,16.20222125,6.142626487
+76,17.04988688,6.170927865
+77,17.90200196,6.201111915
+78,18.75890049,6.233268566
+79,19.62091911,6.267487655
+80,20.48842178,6.303870236
+81,21.36180725,6.342539884
+82,22.24149217,6.383614369
+83,23.12791172,6.427233938
+84,24.02155359,6.473555624
+85,24.92293181,6.52274755
+86,25.83260224,6.574994555
+87,26.75116558,6.63050945
+88,27.67927338,6.689521655
+89,28.61763387,6.752299732
+90,29.56702472,6.819128697
+91,30.52828971,6.890343815
+92,31.50236238,6.966319159
+93,32.49026442,7.0474731
+94,33.49313666,7.134285032
+95,34.51223682,7.227334588
+96,35.54897914,7.327222327
+97,19.19081372,-6.25017485
+98,20.05553602,-6.285467298
+99,20.92594329,-6.32298504
+100,21.80243688,-6.362840261
+101,22.68544071,-6.405178951
+102,23.57542315,-6.450129948
+103,24.47288318,-6.497872808
+104,25.37835081,-6.548569874
+105,26.29240356,-6.602428464
+106,27.21566989,-6.659666871
+107,28.14883195,-6.720536921
+108,29.09262707,-6.785306938
+109,30.04786472,-6.854295551
+110,31.01543179,-6.927848973
+111,31.99631045,-7.006369095
+112,32.99157758,-7.090302002
+113,34.00242585,-7.180171603
+114,35.03019446,-7.276562397
+115,36.07637316,-7.380164213
+116,37.14263654,-7.491771683
+117,38.23088092,-7.612311759
+118,39.34326358,-7.742887867
+119,40.48225401,-7.8848012
+120,41.65069769,-8.03961095
+121,42.85190128,-8.209210679
+122,44.08974439,-8.395920495
+123,45.36882812,-8.602605729
+124,46.69466297,-8.832899657
+125,48.07394795,-9.091433335
+126,49.51495392,-9.384265827
+127,51.0280939,-9.719503673
+128,52.62676282,-10.10830596

Assets/RGLUnityPlugin/Scripts/LidarModels/Laser.cs

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-using System;
-
 namespace RGLUnityPlugin
 {
     /// <summary>
@@ -22,7 +20,7 @@ namespace RGLUnityPlugin
     /// Numbers are expressed in terms of Unity axes convention.
     /// </summary>
     [System.Serializable]
-    public struct Laser : IEquatable<Laser>
+    public struct Laser
     {
         /// <summary>
         /// Rotation around Y-axis.
@@ -63,24 +61,5 @@ public struct Laser : IEquatable<Laser>
         /// Note: May be ignored for some `LidarConfiguration`s (e.g. `UniformRangeLidarConfiguration`)
         /// </summary>
         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.timeOffset == other.timeOffset &&
-                   this.minRange == other.minRange &&
-                   this.maxRange == other.maxRange;
-        }
-
-        public override bool Equals(object obj)
-        {
-            return obj is Laser equatable && Equals(equatable);
-        }
-
-        public override int GetHashCode() => (horizontalAngularOffsetDeg, verticalAngularOffsetDeg, verticalLinearOffsetMm, ringId, timeOffset, minRange, maxRange).GetHashCode();
     }
 }

Assets/RGLUnityPlugin/Scripts/LidarSensor.cs

@@ -160,6 +160,7 @@ public void OnValidate()
             }
             ApplyConfiguration(configuration);
             validatedPreset = modelPreset;
+            onLidarModelChange?.Invoke();
         }
 
         private void ApplyConfiguration(BaseLidarConfiguration newConfig)
@@ -169,8 +170,6 @@ private void ApplyConfiguration(BaseLidarConfiguration newConfig)
                 return;
             }
 
-            onLidarModelChange?.Invoke();
-
             rglGraphLidar.UpdateNodeRaysFromMat3x4f(lidarRaysNodeId, newConfig.GetRayPoses())
                          .UpdateNodeRaysSetRange(lidarRangeNodeId, newConfig.GetRayRanges())
                          .UpdateNodeRaysSetRingIds(lidarRingsNodeId, newConfig.GetRayRingIds())