Merge pull request #15 from lge-ros2/develop

Fix camera buffer data

Assets/Scripts/Devices/Camera.cs

@@ -38,6 +38,16 @@ public partial class Camera : Device
 		protected RenderTextureReadWrite targetRTrwmode;
 		protected TextureFormat readbackDstFormat;
 
+		void OnPreRender()
+		{
+			GL.invertCulling = true;
+		}
+
+		void OnPostRender()
+		{
+			GL.invertCulling = false;
+		}
+
 		protected override void OnAwake()
 		{
 			cam = gameObject.AddComponent<UnityEngine.Camera>();
@@ -169,9 +179,7 @@ private IEnumerator CameraWorker()
 			{
 				cam.enabled = true;
 
-				GL.invertCulling = !GL.invertCulling;
 				cam.Render();
-				GL.invertCulling = !GL.invertCulling;
 
 				var readback = AsyncGPUReadback.Request(cam.targetTexture, 0, readbackDstFormat);
 

Assets/Scripts/Devices/Lidar.LaserCameraData.cs

@@ -49,7 +49,7 @@ public void SetBufferData(in NativeArray<byte> buffer)
 
 			public float GetDepthData(in float horizontalAngle, in float verticalAngle = 0)
 			{
-				var horizontalAngleInCamData = horizontalAngle * Mathf.Deg2Rad;
+				var horizontalAngleInCamData = (horizontalAngle - centerAngle) * Mathf.Deg2Rad;
 				var verticalAngleInCamData = verticalAngle * Mathf.Deg2Rad;
 
 				var maxAngleTangent = Mathf.Tan(laserCameraHFovHalf * Mathf.Deg2Rad);

Assets/Scripts/Devices/Lidar.cs

@@ -186,9 +186,8 @@ private void SetupLaserCameraData()
 
 		private IEnumerator LaserCameraWorker()
 		{
-			var ScanningPeriod = (UpdatePeriod/numberOfLaserCamData);
 			var axisRotation = Vector3.zero;
-			var waitForSeconds = new WaitForSeconds(ScanningPeriod * adjustWaitingPeriod);
+			var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustWaitingPeriod);
 
 			while (true)
 			{
@@ -217,9 +216,9 @@ private IEnumerator LaserCameraWorker()
 					// Debug.Assert(readback.done);
 
 					data.SetBufferData(readback.GetData<byte>());
-
-					yield return waitForSeconds;
 				}
+
+				yield return waitForSeconds;
 			}
 		}
 
@@ -253,10 +252,10 @@ protected override void GenerateMessage()
 
 				var convertedRayAngleH = (rayAngleH >= -laserCameraHFovHalf) ? rayAngleH : (360 + rayAngleH);
 				var dataIndexByAngle = (uint)Mathf.Round(convertedRayAngleH / laserCameraHFov);
+
 				var laserScanData = laserCamData[dataIndexByAngle];
-				var centerAngleInCamData = laserScanData.CenterAngle;
 
-				var depthData = laserScanData.GetDepthData(convertedRayAngleH - centerAngleInCamData);
+				var depthData = laserScanData.GetDepthData(convertedRayAngleH);
 
 				var rayDistance = (depthData > 0) ? depthData * (float)rangeMax : Mathf.Infinity;
 

ProjectSettings/ProjectSettings.asset

@@ -121,7 +121,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 1.3.0
+  bundleVersion: 1.3.2
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0