Merge pull request #189 from Field-Robotics-Japan/pr186/beta/v2.x.x

ROS Example  Added for PR #186

Assets/UnitySensors/Runtime/Prefabs/Camera/PanoramicCamera.prefab

@@ -0,0 +1,103 @@
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+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_Iso: 200
+  m_ShutterSpeed: 0.005
+  m_Aperture: 16
+  m_FocusDistance: 10
+  m_FocalLength: 50
+  m_BladeCount: 5
+  m_Curvature: {x: 2, y: 11}
+  m_BarrelClipping: 0.25
+  m_Anamorphism: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_NormalizedViewPortRect:
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+    y: 0
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+  far clip plane: 1000
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Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs

@@ -8,51 +8,43 @@ namespace UnitySensors.Sensor.Camera
     [RequireComponent(typeof(UnityEngine.Camera))]
     public abstract class CameraSensor : UnitySensor, ITextureInterface
     {
-        [SerializeField]
-        private Vector2Int _resolution = new Vector2Int(640, 480);
-        [SerializeField]
-        private float _fov = 30.0f;
-        [SerializeField]
-        private float _minRange = 0.05f;
-        [SerializeField]
-        private float _maxRange = 100.0f;
+        [field: SerializeField] public Vector2Int resolution { get; protected set; } = new(640, 480);
+        [field: SerializeField] public float      fov        { get; protected set; } = 30.0f;
+        [field: SerializeField] public float      minRange   { get; protected set; } = 0.05f;
+        [field: SerializeField] public float      maxRange   { get; protected set; } = 100.0f;
 
-        private UnityEngine.Camera _m_camera;
-        private RenderTexture _rt = null;
-        private Texture2D _texture;
-        private byte[] _data;
-
-        public Vector2Int resolution { get => _resolution; }
-        protected float maxRange { get => _maxRange; }
-        public UnityEngine.Camera m_camera { get => _m_camera; }
-        public Texture2D texture { get => _texture; }
-        public byte[] data { get => _data; }
-        public int width { get => _resolution.x; }
-        public int height { get => _resolution.y; }
-        public string encoding { get => "rgb8"; }
+        public UnityEngine.Camera sensorCamera { get; protected set; }
+        public byte[]             data         { get; protected set; }
+        public string             encoding     { get; protected set; }
+        public int                width        { get => resolution.x; }
+        public int                height       { get => resolution.y; }
+        public Texture2D          texture      { get; protected set; }
 
+        protected RenderTexture _rt;
 
         protected override void Init()
         {
-            _m_camera = GetComponent<UnityEngine.Camera>();
-            _m_camera.fieldOfView = _fov;
-            _m_camera.nearClipPlane = _minRange;
-            _m_camera.farClipPlane = _maxRange;
-
-            _rt = new RenderTexture(_resolution.x, _resolution.y, 16, RenderTextureFormat.ARGB32);
-            _m_camera.targetTexture = _rt;
+            sensorCamera = GetComponent<UnityEngine.Camera>();
+            sensorCamera.fieldOfView   = fov;
+            sensorCamera.nearClipPlane = minRange;
+            sensorCamera.farClipPlane  = maxRange;
 
-            _texture = new Texture2D(width, height, TextureFormat.RGB24, false);
+            if( _rt == null )
+            {
+                _rt = new RenderTexture(width, height, 16, RenderTextureFormat.ARGB32);
+                sensorCamera.targetTexture = _rt;
+            }
 
-            _data = new byte[width * height * 3];
+            texture  = new Texture2D(width, height, TextureFormat.RGB24, false);
+            data     = new byte[width * height * 3];
+            encoding = "rgb8";
         }
 
         protected override void UpdateSensor()
         {
             if (!LoadTexture()) return;
 
-            if (onSensorUpdated != null)
-                onSensorUpdated.Invoke();
+            onSensorUpdated?.Invoke();
         }
 
         protected bool LoadTexture()
@@ -71,17 +63,17 @@ protected bool LoadTexture()
                     int j=width*(height-1)*4;
                     for(int y=0; y<height; y++){
                         for(int x=0; x<width; x++) {
-                            _data[i+0] = dataBuffer[j+1];
-                            _data[i+1] = dataBuffer[j+2];
-                            _data[i+2] = dataBuffer[j+3];
+                            data[i+0] = dataBuffer[j+1];
+                            data[i+1] = dataBuffer[j+2];
+                            data[i+2] = dataBuffer[j+3];
                             i+=3;
                             j+=4;
                         }
                         j -= width << 3; // width * 2 * 3;
                     }
 
-                    _texture.LoadRawTextureData(_data);
-                    _texture.Apply();
+                    texture.LoadRawTextureData(data);
+                    texture.Apply();
 
                     result = true;
                 }
@@ -95,7 +87,7 @@ protected override void OnSensorDestroy()
             if (_rt != null)
             {
                 // Dispose the frame texture.
-                m_camera.targetTexture = null;
+                sensorCamera.targetTexture = null;
                 Destroy(_rt);
                 _rt = null;
             }

Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs

@@ -37,7 +37,7 @@ protected override void Init()
             base.Init();
 
             _mat = new Material(Shader.Find("UnitySensors/Color2Depth"));
-            float f = m_camera.farClipPlane;
+            float f = sensorCamera.farClipPlane;
             _mat.SetFloat("_F", f);
 
             SetupDirections();
@@ -46,17 +46,17 @@ protected override void Init()
 
         private void SetupDirections()
         {
-            _pointsNum = resolution.x * resolution.y;
+            _pointsNum = width * height;
 
             _directions = new NativeArray<float3>(_pointsNum, Allocator.Persistent);
 
-            float z = resolution.y * 0.5f / Mathf.Tan(m_camera.fieldOfView * 0.5f * Mathf.Deg2Rad);
-            for (int y = 0; y < resolution.y; y++)
+            float z = height * 0.5f / Mathf.Tan(sensorCamera.fieldOfView * 0.5f * Mathf.Deg2Rad);
+            for (int y = 0; y < height; y++)
             {
-                for (int x = 0; x < resolution.x; x++)
+                for (int x = 0; x < width; x++)
                 {
-                    Vector3 vec = new Vector3(-resolution.x / 2 + x, -resolution.y / 2 + y, z);
-                    _directions[y * resolution.x + x] = vec.normalized;
+                    Vector3 vec = new Vector3(-width / 2 + x, -height / 2 + y, z);
+                    _directions[y * width + x] = vec.normalized;
                 }
             }
         }
@@ -79,12 +79,12 @@ private void SetupJob()
 
             _textureToPointsJob = new ITextureToPointsJob()
             {
-                near= m_camera.nearClipPlane,
-                far = m_camera.farClipPlane,
+                near       = sensorCamera.nearClipPlane,
+                far        = sensorCamera.farClipPlane,
                 directions = _directions,
-                pixels = texture.GetPixelData<Color>(0),
-                noises = _noises,
-                points = _pointCloud.points
+                pixels     = texture.GetPixelData<Color>(0),
+                noises     = _noises,
+                points     = _pointCloud.points
             };
         }
 
@@ -97,8 +97,7 @@ protected override void UpdateSensor()
             JobHandle.ScheduleBatchedJobs();
             _jobHandle.Complete();
 
-            if (onSensorUpdated != null)
-                onSensorUpdated.Invoke();
+            onSensorUpdated?.Invoke();
         }
 
         protected override void OnSensorDestroy()

Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/PanoramicCamera/PanoramicCameraSensor.cs

@@ -0,0 +1,31 @@
+using UnityEngine;
+
+namespace UnitySensors.Sensor.Camera
+{
+    public class PanoramicCameraSensor : CameraSensor
+    {
+        private Material      _mat;
+        private RenderTexture _cubemap;
+
+        protected override void Init()
+        {
+            _cubemap = new RenderTexture(1024, 1024, 16, RenderTextureFormat.ARGB32)
+            {
+                dimension = UnityEngine.Rendering.TextureDimension.Cube
+            };
+            _rt  = new RenderTexture(width, height, 16, RenderTextureFormat.ARGB32);
+            _mat = new Material(Shader.Find("UnitySensors/Panoramic"));
+            base.Init();
+        }
+
+        protected override void UpdateSensor()
+        {
+            _mat.SetVector("_Rotation", transform.eulerAngles);
+            sensorCamera.RenderToCubemap(_cubemap);
+            Graphics.Blit(_cubemap, _rt, _mat);
+
+            if (!LoadTexture()) return;
+            onSensorUpdated?.Invoke();
+        }
+    }
+}