Merge pull request #317 from tier4/feature/rgl-q2-features

Add LiDAR output restriction and LiDAR multi-return features
tier4 · Jun 19, 2024 · d13d4c8 · d13d4c8
2 parents c9efa53 + 8566729
commit d13d4c8
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Showing 35 changed files with 3,632 additions and 67 deletions.
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
@@ -280,12 +280,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 8
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -1195,7 +1205,8 @@ MonoBehaviour:
         minHAngle: -60
         maxHAngle: 60
         laserArrayCycleTime: 0.041666
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
@@ -183,12 +183,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 11
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -1098,7 +1108,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.055556
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
@@ -509,12 +509,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 6
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -808,7 +818,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.05556
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab
@@ -412,12 +412,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 5
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -879,7 +889,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.16667
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
@@ -280,12 +280,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 9
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -523,7 +533,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.05
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab
@@ -101,12 +101,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 10
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -1464,7 +1474,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.11111
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
@@ -100,12 +100,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 20
   modelPreset: 7
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -567,7 +577,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.13
+        verticalBeamDivergence: 0.13
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab
@@ -101,12 +101,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 2
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -232,7 +242,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.055296
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.171887
+        verticalBeamDivergence: 0.0859435
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab
@@ -101,12 +101,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 3
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -344,7 +354,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.055296
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.171887
+        verticalBeamDivergence: 0.0859435
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
@@ -509,12 +509,22 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 4
+  returnType: 0
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0
+  outputRestriction:
+    applyRestriction: 0
+    rectangularRestrictionMasks: []
+    enablePeriodicRestriction: 0
+    restrictionPeriod: 1
+    restrictionDutyRate: 0.5
+    enableRestrictionRandomizer: 0
+    minRandomPerdiod: 0
+    maxRandomPerdiod: 1
   references:
     version: 1
     00000000:
@@ -1424,7 +1434,8 @@ MonoBehaviour:
         minHAngle: 0
         maxHAngle: 360
         laserArrayCycleTime: 0.0585688
-        beamDivergence: 0.13
+        horizontalBeamDivergence: 0.171887
+        verticalBeamDivergence: 0.0859435
         noiseParams:
           angularNoiseType: 0
           angularNoiseStDev: 0.057295784