From c8683e063014f564f094d17db756f35440486cbd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Micha=C5=82=20Kie=C5=82czykowski?= Date: Thu, 12 Dec 2024 14:33:11 +0100 Subject: [PATCH] Change LiDAR default return mode to SingleReturnLast --- .../Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab | 2 +- .../Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab | 2 +- .../Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab | 4 ++-- .../Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab | 2 +- Assets/RGLUnityPlugin/Scripts/LidarSensor.cs | 2 +- 11 files changed, 18 insertions(+), 18 deletions(-) diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab index dbf1b4a3f..28cfa4716 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab @@ -240,7 +240,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &9115279251508973176 MonoBehaviour: @@ -280,7 +280,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 8 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab index 4dedd677f..d25cf2b5b 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab @@ -143,7 +143,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &2398431948632788025 MonoBehaviour: @@ -183,7 +183,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 11 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab index d1a4da892..ca67fbb9a 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab @@ -469,7 +469,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &7675420128049466981 MonoBehaviour: @@ -509,7 +509,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 6 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab index ebe2715ef..a47b0df47 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab @@ -372,7 +372,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &1430391258634731476 MonoBehaviour: @@ -412,7 +412,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 5 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab index 05c896517..c50b6d66a 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab @@ -280,7 +280,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 9 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab index 389423f5d..262643925 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab @@ -61,7 +61,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &1429064023790827067 MonoBehaviour: @@ -101,7 +101,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 10 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab index af1d59687..3c7ab8f44 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab @@ -100,7 +100,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 20 modelPreset: 7 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab index 40ca77d5b..10e90edff 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab @@ -61,7 +61,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &4572956135196922574 MonoBehaviour: @@ -101,7 +101,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 2 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab index f1441aa36..956bebb9c 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab @@ -61,7 +61,7 @@ MonoBehaviour: - topic: lidar/pointcloud_ex publish: 1 fieldsPreset: 2 - fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000 + fields: 01000000030000000c0000000b000000090000000a000000080000000e000000 radarScanPublishers: [] --- !u!114 &6422033487030486066 MonoBehaviour: @@ -101,7 +101,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 3 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab index dd5c69241..25016e834 100644 --- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab @@ -509,7 +509,7 @@ MonoBehaviour: m_EditorClassIdentifier: AutomaticCaptureHz: 10 modelPreset: 4 - returnMode: 16777220 + returnMode: 16777218 applyDistanceGaussianNoise: 1 applyAngularGaussianNoise: 1 applyVelocityDistortion: 0 diff --git a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs index 5e37bd3b0..65d97cae2 100644 --- a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs +++ b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs @@ -47,7 +47,7 @@ public class LidarSensor : MonoBehaviour public LidarModel modelPreset = LidarModel.RangeMeter; [Tooltip("Allows to select between LiDAR return modes")] - public RGLReturnMode returnMode = RGLReturnMode.SingleReturnFirst; + public RGLReturnMode returnMode = RGLReturnMode.SingleReturnLast; [Tooltip("Allows to quickly enable/disable distance gaussian noise")] public bool applyDistanceGaussianNoise = true;