Class RaycastJobHelper

Inheritance

System.Object

RaycastJobHelper

RaycastJobHelper<T>

Inherited Members

System.Object.ToString()

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

Namespace: Marus.Sensors

Assembly: cs.temp.dll.dll

Syntax

public abstract class RaycastJobHelper

Methods

CalculateRayDirections(NativeArray<(Single, Single)>)

Calculates direction vectors from angles

Declaration

public static NativeArray<Vector3> CalculateRayDirections(NativeArray<(float, float)> rayAngles)

Parameters

Type	Name	Description
NativeArray<System.ValueTuple<System.Single, System.Single>>	rayAngles	Array of tuples defining the direction with angles: (horizontalAngle, verticalAngle)

Returns

Type	Description
NativeArray<Vector3>	Array of direction vectors

EvenlyDistributeRays(Int32, Int32, Single, Single)

Set evenly distributed array of ray directions for configured field of view and resolution

Declaration

public static NativeArray<Vector3> EvenlyDistributeRays(int widthRes, int heightRes, float horizontalFieldOfView, float verticalFieldOfView)

Parameters

Type	Name	Description
System.Int32	widthRes
System.Int32	heightRes
System.Single	horizontalFieldOfView
System.Single	verticalFieldOfView

Returns

Type	Description
NativeArray<Vector3>

InitCustomRays(List<Single>, Int32, Single)

Creates rays from vertical ray angles.

Declaration

public static NativeArray<(float, float)> InitCustomRays(List<float> verticalAngles, int widthRes, float horizontalFieldOfView)

Parameters

Type	Name	Description
List<System.Single>	verticalAngles	Angles of vertical rays, often found in lidar specification sheets. This also defines vertical field of view.
System.Int32	widthRes	Number of horizontal rays.
System.Single	horizontalFieldOfView	Horizontal field of view.

Returns

Type	Description
NativeArray<System.ValueTuple<System.Single, System.Single>>

InitUniformRays(Int32, Int32, Single, Single)

Creates uniform rays defined by horizontal and vertical angles.

Declaration

public static NativeArray<(float, float)> InitUniformRays(int widthRes, int heightRes, float horizontalFieldOfView, float verticalFieldOfView)

Parameters

Type	Name	Description
System.Int32	widthRes	Number of horizontal rays.
System.Int32	heightRes	Number of vertical rays.
System.Single	horizontalFieldOfView	Horizontal field of view
System.Single	verticalFieldOfView	Vertical field of view. Will span from -fov/2 to +fov/2

Returns

Type	Description
NativeArray<System.ValueTuple<System.Single, System.Single>>

InitVerticalAnglesFromIntervals(List<RayInterval>, Int32, Single)

Creates rays from predefined vertical intervals with corresponding number of rays.

Declaration

public static List<float> InitVerticalAnglesFromIntervals(List<RayInterval> intervals, int widthRes, float horizontalFieldOfView)

Parameters

Type	Name	Description
List<RayInterval>	intervals	List of ray intervals containing starting angle, ending angle and number of rays in given interval.
System.Int32	widthRes	Number of horizontal rays.
System.Single	horizontalFieldOfView	Horizontal field of view.

Returns

Type	Description
List<System.Single>