LidarSimpleParams.hpp

// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#ifndef msr_airlib_LidarSimpleParams_hpp
#define msr_airlib_LidarSimpleParams_hpp

#include "common/Common.hpp"
#include "common/AirSimSettings.hpp"

namespace msr
{
namespace airlib
{

    struct LidarSimpleParams
    {

        // Velodyne VLP-16 Puck config
        // https://velodynelidar.com/vlp-16.html

        // default settings
        // TODO: enable reading of these params from AirSim settings

        uint number_of_channels = 16;
        real_T range = 10000.0f / 100; // meters
        uint points_per_second = 100000;
        uint horizontal_rotation_frequency = 10; // rotations/sec
        real_T horizontal_FOV_start = 0;
        real_T horizontal_FOV_end = 359;
        real_T vertical_FOV_upper = -15; // drones -15, car +10
        real_T vertical_FOV_lower = -45; // drones -45, car -10

        Pose relative_pose{
            Vector3r(0, 0, -1), // position - a little above vehicle (especially for cars) or Vector3r::Zero()
            Quaternionr::Identity() // orientation - by default Quaternionr(1, 0, 0, 0)
        };

        bool draw_debug_points = false;
        std::string data_frame = AirSimSettings::kVehicleInertialFrame;

        bool external_controller = true;

        real_T update_frequency = 10; // Hz
        real_T startup_delay = 0; // sec

        void initializeFromSettings(const AirSimSettings::LidarSetting& settings)
        {
            std::string simmode_name = AirSimSettings::singleton().simmode_name;

            const auto& settings_json = settings.settings;
            number_of_channels = settings_json.getInt("NumberOfChannels", number_of_channels);
            range = settings_json.getFloat("Range", range);
            points_per_second = settings_json.getInt("PointsPerSecond", points_per_second);
            horizontal_rotation_frequency = settings_json.getInt("RotationsPerSecond", horizontal_rotation_frequency);
            draw_debug_points = settings_json.getBool("DrawDebugPoints", draw_debug_points);
            data_frame = settings_json.getString("DataFrame", data_frame);
            external_controller = settings_json.getBool("ExternalController", external_controller);

            vertical_FOV_upper = settings_json.getFloat("VerticalFOVUpper", Utils::nan<float>());

            // By default, for multirotors the lidars FOV point downwards;
            // for cars, the lidars FOV is more forward facing.
            if (std::isnan(vertical_FOV_upper)) {
                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor)
                    vertical_FOV_upper = -15;
                else
                    vertical_FOV_upper = +10;
            }

            vertical_FOV_lower = settings_json.getFloat("VerticalFOVLower", Utils::nan<float>());
            if (std::isnan(vertical_FOV_lower)) {
                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor)
                    vertical_FOV_lower = -45;
                else
                    vertical_FOV_lower = -10;
            }

            horizontal_FOV_start = settings_json.getFloat("HorizontalFOVStart", horizontal_FOV_start);
            horizontal_FOV_end = settings_json.getFloat("HorizontalFOVEnd", horizontal_FOV_end);

            relative_pose.position = AirSimSettings::createVectorSetting(settings_json, VectorMath::nanVector());
            auto rotation = AirSimSettings::createRotationSetting(settings_json, AirSimSettings::Rotation::nanRotation());

            if (std::isnan(relative_pose.position.x()))
                relative_pose.position.x() = 0;
            if (std::isnan(relative_pose.position.y()))
                relative_pose.position.y() = 0;
            if (std::isnan(relative_pose.position.z())) {
                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor)
                    relative_pose.position.z() = 0;
                else
                    relative_pose.position.z() = -1; // a little bit above for cars
            }

            float pitch, roll, yaw;
            pitch = !std::isnan(rotation.pitch) ? rotation.pitch : 0;
            roll = !std::isnan(rotation.roll) ? rotation.roll : 0;
            yaw = !std::isnan(rotation.yaw) ? rotation.yaw : 0;
            relative_pose.orientation = VectorMath::toQuaternion(
                Utils::degreesToRadians(pitch), // pitch - rotation around Y axis
                Utils::degreesToRadians(roll), // roll  - rotation around X axis
                Utils::degreesToRadians(yaw)); // yaw   - rotation around Z axis
        }
    };
}
} //namespace
#endif