From 53e80855edfb6e6919761d96ab021eda2d1e4c97 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Sat, 17 Feb 2024 00:23:05 +0900 Subject: [PATCH 1/6] Change GeoCoordinate to struct and Fix file names --- .../GeoCoordinates/{GeoCoordinates.cs => GeoCoordinate.cs} | 2 +- .../{GeoCoordinates.cs.meta => GeoCoordinate.cs.meta} | 0 .../{GeoCoordinatesConverter.cs => GeoCoordinateConverter.cs} | 0 ...rdinatesConverter.cs.meta => GeoCoordinateConverter.cs.meta} | 0 4 files changed, 1 insertion(+), 1 deletion(-) rename Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/{GeoCoordinates.cs => GeoCoordinate.cs} (91%) rename Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/{GeoCoordinates.cs.meta => GeoCoordinate.cs.meta} (100%) rename Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/{GeoCoordinatesConverter.cs => GeoCoordinateConverter.cs} (100%) rename Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/{GeoCoordinatesConverter.cs.meta => GeoCoordinateConverter.cs.meta} (100%) diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs similarity index 91% rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs index ceba08e2..40afbcfa 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs @@ -1,7 +1,7 @@ namespace UnitySensors.Utils.GeoCoordinate { [System.Serializable] - public class GeoCoordinate + public struct GeoCoordinate { public GeoCoordinate(double lat, double lon, double alt) { diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs.meta similarity index 100% rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs.meta rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs.meta diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs similarity index 100% rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs.meta similarity index 100% rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs.meta rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs.meta From 21d849a75e4d919b0d08db34cdf0cddc92f204d0 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Sat, 17 Feb 2024 00:23:19 +0900 Subject: [PATCH 2/6] Update GNSSSensor --- .../Scripts/Sensors/GNSS/GNSSSensor.cs | 9 ++---- .../Sensors/GNSS/GeoCoordinateSystem.cs | 31 +++++++++++++++++++ .../Sensors/GNSS/GeoCoordinateSystem.cs.meta | 11 +++++++ 3 files changed, 44 insertions(+), 7 deletions(-) create mode 100644 Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs create mode 100644 Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs index be21ad84..b9f366b6 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs @@ -10,7 +10,7 @@ namespace UnitySensors.Sensor.GNSS public class GNSSSensor : UnitySensor { [SerializeField] - private GeoCoordinate _baseCoordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f); + private GeoCoordinateSystem _coordinateSystem; private Transform _transform; private GeoCoordinateConverter _gcc; @@ -22,16 +22,11 @@ public class GNSSSensor : UnitySensor protected override void Init() { _transform = this.transform; - _gcc = new GeoCoordinateConverter(_baseCoordinate.latitude, _baseCoordinate.longitude); - _coordinate = new GeoCoordinate(_baseCoordinate.latitude, _baseCoordinate.longitude, _baseCoordinate.altitude); } protected override void UpdateSensor() { - Vector3 position = _transform.position; - (_coordinate.latitude, _coordinate.longitude) = _gcc.XZ2LatLon(position.x, position.z); - _coordinate.altitude = _baseCoordinate.altitude + position.y; - + _coordinate = _coordinateSystem.GetCoordinate(_transform.position); if (onSensorUpdated != null) onSensorUpdated.Invoke(); } diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs new file mode 100644 index 00000000..8484b257 --- /dev/null +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs @@ -0,0 +1,31 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +using UnitySensors.Utils.GeoCoordinate; + +namespace UnitySensors.Sensor.GNSS +{ + public class GeoCoordinateSystem : MonoBehaviour + { + [SerializeField] + private GeoCoordinate _coordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f); + + private Transform _transform; + private GeoCoordinateConverter _converter; + + private void Awake() + { + _transform = this.transform; + _converter = new GeoCoordinateConverter(_coordinate.latitude, _coordinate.longitude); + } + + public GeoCoordinate GetCoordinate(Vector3 worldPosition) + { + Vector3 localPosition = _transform.InverseTransformPoint(worldPosition); + double latitude, longitude; + (latitude, longitude) = _converter.XZ2LatLon(localPosition.x, localPosition.z); + return new GeoCoordinate(latitude, longitude, localPosition.y + _coordinate.altitude); + } + } +} \ No newline at end of file diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta new file mode 100644 index 00000000..867353f6 --- /dev/null +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5f2116b7f84275c4d877f9ac14990716 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From d21c4fef0547a1babc936e23a7292725ac179b2d Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Sat, 17 Feb 2024 00:23:39 +0900 Subject: [PATCH 3/6] Update prefab and demo --- .../Prefabs/GNSS/GeoCoordinateSystem.prefab | 50 +++++++++++ .../GNSS/GeoCoordinateSystem.prefab.meta | 7 ++ .../UnitySensors/Samples/GNSS/Demo_GNSS.unity | 86 +++++++++++++++++++ .../Runtime/Prefabs/GNSS/GNSS_ros.prefab | 15 ++-- .../Samples/GNSS/Demo_GNSS_ros.unity | 86 +++++++++++++++++++ 5 files changed, 235 insertions(+), 9 deletions(-) create mode 100644 Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab create mode 100644 Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta diff --git a/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab new file mode 100644 index 00000000..ac987642 --- /dev/null +++ b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab @@ -0,0 +1,50 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!1 &6658069106543365610 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - 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externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: From f7575bca8072f0b7ac285ae76d72f470703a4be6 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Sat, 17 Feb 2024 01:38:00 +0900 Subject: [PATCH 5/6] Update TF.cs --- Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs index 3b5d2a13..2f2846fe 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs @@ -55,6 +55,15 @@ public TFData[] GetTFData(string frame_id_parent, Matrix4x4 worldToLocalMatrix, tfData_self.frame_id_parent = frame_id_parent; tfData_self.frame_id_child = _frame_id; tfData_self.position = (Vector3)(worldToLocalMatrix * new Vector4(_transform.position.x, _transform.position.y, _transform.position.z, 1.0f)); + Vector3 localScale = _transform.localScale; + Vector3 lossyScale = _transform.lossyScale; + Vector3 scaleVector = new Vector3() + { + x = localScale.x != 0 ? lossyScale.x / localScale.x : 0, + y = localScale.y != 0 ? lossyScale.y / localScale.y : 0, + z = localScale.z != 0 ? lossyScale.z / localScale.z : 0 + }; + tfData_self.position.Scale(scaleVector); tfData_self.rotation = worldToLocalQuaternion * _transform.rotation; tfData.Add(tfData_self); From ba3353cfa5dcb982d2797f03736d63810cb53fe7 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Sun, 18 Feb 2024 12:05:37 +0900 Subject: [PATCH 6/6] Update version tags --- Assets/UnitySensors/package.json | 2 +- Assets/UnitySensorsROS/package.json | 4 ++-- README.md | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Assets/UnitySensors/package.json b/Assets/UnitySensors/package.json index 4ba8775f..9a8e4e64 100644 --- a/Assets/UnitySensors/package.json +++ b/Assets/UnitySensors/package.json @@ -1,6 +1,6 @@ { "name": "com.frj.unity-sensors", - "version": "2.0.3", + "version": "2.0.4", "displayName": "UnitySensors", "description": "", "unity": "2021.3", diff --git a/Assets/UnitySensorsROS/package.json b/Assets/UnitySensorsROS/package.json index e56410d5..a9e6c7f4 100644 --- a/Assets/UnitySensorsROS/package.json +++ b/Assets/UnitySensorsROS/package.json @@ -1,11 +1,11 @@ { "name": "com.frj.unity-sensors-ros", - "version": "2.0.3", + "version": "2.0.4", "displayName": "UnitySensorsROS", "description": "", "unity": "2021.3", "dependencies": { - "com.frj.unity-sensors": "2.0.3", + "com.frj.unity-sensors": "2.0.4", "com.unity.robotics.ros-tcp-connector": "0.7.0-preview" }, "keywords": [ diff --git a/README.md b/README.md index 6713cee0..cce04b8c 100644 --- a/README.md +++ b/README.md @@ -30,8 +30,8 @@ There are several Prefab and Scene files available for testing each sensor. 2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....` 3. Enter the git URL for the desired package. - 1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.3`. - 2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.3`. + 1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.4`. + 2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.4`. __Note: UnitySensorsROS does not contain UnitySensors.__ 4. Click `Add`.