Simple LiDAR velocity distortion (#168)

* Add time offsets feature * fix copypaste error * move lasers offset from library to calculating * add velocity distortion first approach * add rotation to distortion * small fixes * back to laserArrayOffsets data * add data for velodyne 16 and 32 * add PandarQT data * add Pandar40 data * add placeholders for velodyne 128 and ouster * add velodyne vls-128 configuration * PR fixes v1 * fix minor bug * catch bug with units * update lidars prefabs * movetransform assigment on tick * fix bug with radians * move transforming do distord method * Delete usless member * Update RGL binary after rebase * Fix RGL velocity distortion v1 (#188) * Adjust plugin to fixed native RGL version * Calculate velocities in sensor-local coordinate frame * Fix offsets calculation * Add time offsets to Hesai AT128 * Update VLS128 time offsets * Update lidar prefabs * Update RGL binary * Disable velocity distortion by default * Add sample scene for tests --------- Co-authored-by: Mateusz Szczygielski <[email protected]> Co-authored-by: Mateusz Szczygielski <[email protected]>
tier4 · Sep 23, 2023 · 58e028c · 58e028c
1 parent 0b07449
commit 58e028c
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diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
@@ -506,257 +506,299 @@ MonoBehaviour:
   modelPreset: 6
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
+  applyVelocityDistortion: 0
   configuration:
     rayGenerateMethod: 0
     laserArray:
       centerOfMeasurementLinearOffsetMm: {x: 0, y: 47.7, z: 0}
       focalDistanceMm: 0
       lasers:
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 25
-        verticalLinearOffsetMm: 0
-        ringId: 1
-        minRange: 0
-        maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 19
+        verticalAngularOffsetDeg: -15
         verticalLinearOffsetMm: 0
-        ringId: 2
+        ringId: 40
+        timeOffset: 0.01334
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 14
+        verticalAngularOffsetDeg: -11
         verticalLinearOffsetMm: 0
-        ringId: 3
+        ringId: 39
+        timeOffset: 0.02709
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 13
+        verticalAngularOffsetDeg: -8
         verticalLinearOffsetMm: 0
-        ringId: 4
+        ringId: 38
+        timeOffset: 0.03952
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 12
+        verticalAngularOffsetDeg: -5
         verticalLinearOffsetMm: 0
-        ringId: 5
+        ringId: 37
+        timeOffset: 0.05194
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 11
+        verticalAngularOffsetDeg: -3
         verticalLinearOffsetMm: 0
-        ringId: 6
+        ringId: 36
+        timeOffset: 0.01007
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 10
+        verticalAngularOffsetDeg: -2
         verticalLinearOffsetMm: 0
-        ringId: 7
+        ringId: 35
+        timeOffset: 0.02382
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 9
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: -1.67
         verticalLinearOffsetMm: 0
-        ringId: 8
+        ringId: 34
+        timeOffset: 0.0081
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 8
+      - horizontalAngularOffsetDeg: -5.208
+        verticalAngularOffsetDeg: -1.33
         verticalLinearOffsetMm: 0
-        ringId: 9
+        ringId: 33
+        timeOffset: 0.00089
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 7
+        verticalAngularOffsetDeg: -1
         verticalLinearOffsetMm: 0
-        ringId: 10
+        ringId: 32
+        timeOffset: 0.03494
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 6
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: -0.67
         verticalLinearOffsetMm: 0
-        ringId: 11
+        ringId: 31
+        timeOffset: 0.02185
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: 5.67
+        verticalAngularOffsetDeg: -0.33
         verticalLinearOffsetMm: 0
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+        ringId: 30
+        timeOffset: 0.01465
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 5.33
+      - horizontalAngularOffsetDeg: -1.042
+        verticalAngularOffsetDeg: -0
         verticalLinearOffsetMm: 0
-        ringId: 13
+        ringId: 29
+        timeOffset: 0.04737
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 5
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 0.33
         verticalLinearOffsetMm: 0
-        ringId: 14
+        ringId: 28
+        timeOffset: 0.03494
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: 4.67
+        verticalAngularOffsetDeg: 0.67
         verticalLinearOffsetMm: 0
-        ringId: 15
+        ringId: 27
+        timeOffset: 0.0284
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 4.33
+      - horizontalAngularOffsetDeg: -1.042
+        verticalAngularOffsetDeg: 1
         verticalLinearOffsetMm: 0
-        ringId: 16
+        ringId: 26
+        timeOffset: 0.00483
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 4
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 1.33
         verticalLinearOffsetMm: 0
-        ringId: 17
+        ringId: 25
+        timeOffset: 0.04737
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: 3.67
+        verticalAngularOffsetDeg: 1.67
         verticalLinearOffsetMm: 0
-        ringId: 18
+        ringId: 24
+        timeOffset: 0.04082
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 3.33
+      - horizontalAngularOffsetDeg: -1.042
+        verticalAngularOffsetDeg: 2
         verticalLinearOffsetMm: 0
-        ringId: 19
+        ringId: 23
+        timeOffset: 0.01858
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 3
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 2.33
         verticalLinearOffsetMm: 0
-        ringId: 20
+        ringId: 22
+        timeOffset: 0.01007
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
         verticalAngularOffsetDeg: 2.67
         verticalLinearOffsetMm: 0
         ringId: 21
+        timeOffset: 0.00286
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 2.33
+      - horizontalAngularOffsetDeg: -1.042
+        verticalAngularOffsetDeg: 3
         verticalLinearOffsetMm: 0
-        ringId: 22
+        ringId: 20
+        timeOffset: 0.03167
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 2
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 3.33
         verticalLinearOffsetMm: 0
-        ringId: 23
+        ringId: 19
+        timeOffset: 0.02382
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: 1.67
+        verticalAngularOffsetDeg: 3.67
         verticalLinearOffsetMm: 0
-        ringId: 24
+        ringId: 18
+        timeOffset: 0.01661
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 1.33
+      - horizontalAngularOffsetDeg: -1.042
+        verticalAngularOffsetDeg: 4
         verticalLinearOffsetMm: 0
-        ringId: 25
+        ringId: 17
+        timeOffset: 0.04409
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: 1
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 4.33
         verticalLinearOffsetMm: 0
-        ringId: 26
+        ringId: 16
+        timeOffset: 0.03691
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: 0.67
+        verticalAngularOffsetDeg: 4.67
         verticalLinearOffsetMm: 0
-        ringId: 27
+        ringId: 15
+        timeOffset: 0.03037
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: 0.33
+      - horizontalAngularOffsetDeg: -1.042
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         verticalLinearOffsetMm: 0
-        ringId: 28
+        ringId: 14
+        timeOffset: 0.0068
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: -1.042
-        verticalAngularOffsetDeg: -0
+      - horizontalAngularOffsetDeg: 3.125
+        verticalAngularOffsetDeg: 5.33
         verticalLinearOffsetMm: 0
-        ringId: 29
+        ringId: 13
+        timeOffset: 0.0493
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -5.208
-        verticalAngularOffsetDeg: -0.33
+        verticalAngularOffsetDeg: 5.67
         verticalLinearOffsetMm: 0
-        ringId: 30
+        ringId: 12
+        timeOffset: 0.04279
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
-        verticalAngularOffsetDeg: -0.67
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+        verticalAngularOffsetDeg: 6
         verticalLinearOffsetMm: 0
-        ringId: 31
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+        timeOffset: 0.02055
         minRange: 0
         maxRange: 0
       - horizontalAngularOffsetDeg: -1.042
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         verticalLinearOffsetMm: 0
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+        timeOffset: 0.03364
         minRange: 0
         maxRange: 0
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-        verticalAngularOffsetDeg: -1.33
+      - horizontalAngularOffsetDeg: -1.042
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         verticalLinearOffsetMm: 0
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+        timeOffset: 0.04606
         minRange: 0
         maxRange: 0
-      - horizontalAngularOffsetDeg: 3.125
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         verticalLinearOffsetMm: 0
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+        timeOffset: 0.01204
         minRange: 0
         maxRange: 0
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         verticalLinearOffsetMm: 0
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+        timeOffset: 0.02579
         minRange: 0
         maxRange: 0
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+        timeOffset: 0.03821
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         verticalLinearOffsetMm: 0
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         minRange: 0
         maxRange: 0
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         verticalLinearOffsetMm: 0
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         minRange: 0
         maxRange: 0
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         verticalLinearOffsetMm: 0
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         minRange: 0
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+        verticalLinearOffsetMm: 0
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         minRange: 0
         maxRange: 0
     horizontalResolution: 0.2
     minHAngle: 0
     maxHAngle: 360
     minRange: 0
     maxRange: 200
+    laserArrayCycleTime: 0.05556
     noiseParams:
       angularNoiseType: 0
       angularNoiseStDev: 0.057295784