Merge pull request #113 from Field-Robotics-Japan/feature/hdl32ScanPa…

…ttern Add ScanPattern for Velodyne HDL32-E
Field-Robotics-Japan · Feb 10, 2024 · ac4947d · ac4947d
2 parents fff9462 + fde6678
commit ac4947d
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Showing 7 changed files with 345,633 additions and 8 deletions.
diff --git a/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs b/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs
@@ -173,8 +173,7 @@ private void GenerateFromSpecification()
             int index = 0;
             for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)
             {
-                if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;
-                float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);
+                float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)(_direction == Direction.CW ? azimuth : _azimuthAngleResolution - 1 - azimuth) / _azimuthAngleResolution);
                 foreach (float zenithAngle in _zenithAngles)
                 {
                     scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;