add fog feature setting initial commit

tier4 · Sep 16, 2024 · f745b0d · f745b0d
1 parent 994a6ce
commit f745b0d
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Showing 7 changed files with 88 additions and 2 deletions.
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarFogManager.cs b/Assets/RGLUnityPlugin/Scripts/LidarFogManager.cs
@@ -33,9 +33,24 @@ public class LidarFogManager : MonoBehaviour
         [field: Tooltip("Enable/disable fog effect on devices.r")]
         public bool IsFogEnabled { get;  set; } = false;
 
+        [field: SerializeField]
+        [field: Tooltip("The attenuation coefficient for fog corresponding to amount of fog in the air")]
+        [field: Range(0.003f, 0.5f)]
+        public float AttenuationCoefficient { get; private set; } = 0.03f;
+
+        [field: SerializeField]
+        [field: Tooltip("TODO:")]
+        [field: Range(0.0f, 1.0f)]
+        public float r1 { get; private set; } = 0.001f;
+
+        [field: SerializeField]
+        [field: Tooltip("TODO:")]
+        [field: Range(1.0f, 10.0f)]
+        public float r2 { get; private set; } = 1.0f;
+
         private void Awake()
         {
-            if (!IsSnowFeatureAvailable())
+            if (!IsFogFeatureAvailable())
             {
                 Debug.LogError("Loaded RGL plugin does not include support for Lidar Fog Model, removing component");
                 Destroy(this);
@@ -68,7 +83,7 @@ private void OnDisable()
             OnNewConfig?.Invoke();
         }
 
-        public bool IsSnowFeatureAvailable()
+        public bool IsFogFeatureAvailable()
         {
             return RGLNativeAPI.HasExtension(RGLExtension.RGL_EXTENSION_WEATHER);
         }

diff --git a/Assets/RGLUnityPlugin/Scripts/LidarFogManager.cs.meta b/Assets/RGLUnityPlugin/Scripts/LidarFogManager.cs.meta
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarRainManager.cs.meta b/Assets/RGLUnityPlugin/Scripts/LidarRainManager.cs.meta
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
@@ -94,6 +94,7 @@ public class LidarSensor : MonoBehaviour
         private const string toLidarFrameNodeId = "TO_LIDAR_FRAME";
         private const string snowNodeId = "SNOW";
         private const string rainNodeId = "RAIN";
+        private const string fogNodeId = "FOG";
 
         private LidarModel? validatedPreset;
         private float timer;
@@ -159,6 +160,14 @@ public void Start()
                 LidarRainManager.Instance.OnNewConfig += OnValidate;
             }
 
+            if(LidarFogManager.Instance != null)
+            {
+                // Add deactivated node with some initial values. To be activated and updated when validating.
+                rglGraphLidar.AddNodePointsSimulateFog(fogNodeId, 0.03f, 0.1f, 1.0f);
+                rglGraphLidar.SetActive(fogNodeId, false);
+                LidarFogManager.Instance.OnNewConfig += OnValidate;
+            }
+
             OnValidate();
 
             if (doValidateConfigurationOnStartup)

diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLHelperTypes.cs
@@ -37,6 +37,7 @@ public enum RGLNodeType
         PUBLISH_UDP_OBJECT_LIST,
         POINTS_SIMULATE_SNOW,
         POINTS_SIMULATE_RAIN,
+        POINTS_SIMULATE_FOG,
         RAYTRACE,
         GAUSSIAN_NOISE_ANGULAR_RAY,
         GAUSSIAN_NOISE_ANGULAR_HITPOINT,

diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs
@@ -186,6 +186,9 @@ public static extern int rgl_node_points_simulate_snow_configure_defaults(IntPtr
         public static extern int rgl_node_points_simulate_rain(ref IntPtr node, float min_range, float max_range, float rain_rate,
             Int32 num_channels, float beam_divergence, bool simulate_energy_loss, Int32 numerical_threshold);
 
+        [DllImport("RobotecGPULidar")]
+        public static extern int rgl_node_points_simulate_fog(ref IntPtr node, float attenuationCoefficient, float r1, float r2);
+
         [DllImport("RobotecGPULidar")]
         public static extern int rgl_graph_run(IntPtr node);
 
@@ -662,6 +665,11 @@ public static void NodePointsSimulateRain(ref IntPtr node, float minRange, float
             CheckErr(rgl_node_points_simulate_rain(ref node, minRange, maxRange, rainRate,numChannels, beamDivergence, doSimulateEnergyLoss, numericalThreshold));
         }
 
+        public static   void NodePointsSimulateFog(ref IntPtr node, float attenuationCoefficient, float r1, float r2)
+        {
+            CheckErr(rgl_node_points_simulate_fog(ref node, attenuationCoefficient, r1, r2));
+        }
+
         public static void GraphRun(IntPtr node)
         {
             CheckErr(rgl_graph_run(node));

diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs
@@ -350,6 +350,30 @@ public RGLNodeSequence AddNodePointsSimulateSnow(string identifier, float minRan
             return this;
         }
 
+        public RGLNodeSequence AddNodePointsSimulateRain(string identifier, float minRange, float maxRange, float rainRate,
+            Int32 numChannels, float beamDivergence, bool doSimulateEnergyLoss, Int32 numericalThreshold)
+        {
+            CheckNodeNotExist(identifier);
+            RGLNodeHandle handle = new RGLNodeHandle();
+            RGLNativeAPI.NodePointsSimulateRain(ref handle.Node, minRange, maxRange, rainRate,
+                numChannels, beamDivergence, doSimulateEnergyLoss, numericalThreshold);
+            handle.Type = RGLNodeType.POINTS_SIMULATE_RAIN;
+            handle.Identifier = identifier;
+            AddNode(handle);
+            return this;
+        }
+
+        public RGLNodeSequence AddNodePointsSimulateFog(string identifier, float attenuationCoefficient, float r1, float r2)
+        {
+            CheckNodeNotExist(identifier);
+            RGLNodeHandle handle = new RGLNodeHandle();
+            RGLNativeAPI.NodePointsSimulateFog(ref handle.Node, attenuationCoefficient, r1, r2);
+            handle.Type = RGLNodeType.POINTS_SIMULATE_FOG;
+            handle.Identifier = identifier;
+            AddNode(handle);
+            return this;
+        }
+
         //// UPDATE NODES ////
         public RGLNodeSequence UpdateNodeRaysFromMat3x4f(string identifier, Matrix4x4[] rays)
         {
@@ -488,6 +512,13 @@ public RGLNodeSequence UpdateNodePointsSimulateRain(string identifier, float min
             return this;
         }
 
+        public RGLNodeSequence UpdateNodePointsSimulateFog(string identifier, float attenuationCoefficient, float r1, float r2)
+        {
+            RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.POINTS_SIMULATE_FOG);
+            RGLNativeAPI.NodePointsSimulateFog(ref handle.Node, attenuationCoefficient, r1, r2);
+            return this;
+        }
+
         public RGLNodeSequence UpdateNodePointsSnowDefaults(string identifier, int snowflakesId, float fullBeamIntensity, float snowflakesLaserRetro)
         {
             RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.POINTS_SIMULATE_SNOW);