diff --git a/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs b/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs index 22df6a82..4da26159 100644 --- 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; diff --git a/Assets/UnitySensors/Runtime/ScriptableObjects/ScanPattern/Velodyne/HDL-32E.asset b/Assets/UnitySensors/Runtime/ScriptableObjects/ScanPattern/Velodyne/HDL-32E.asset new file mode 100644 index 00000000..34ae42fc --- /dev/null +++ b/Assets/UnitySensors/Runtime/ScriptableObjects/ScanPattern/Velodyne/HDL-32E.asset @@ -0,0 +1,345620 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &11400000 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 92acdf05f4e317341ab30489744293dd, type: 3} + m_Name: HDL-32E + m_EditorClassIdentifier: + scans: + - 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Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele, HAP, Mid360) - RGB Camera - RGBD Camera