Skip to content

docs.md

Latest commit

 

History

History
97 lines (72 loc) · 4.55 KB

docs.md

File metadata and controls

97 lines (72 loc) · 4.55 KB

ProBridge Sensors Documentation

Note: Before proceeding, ensure you have reviewed the ProBridge documentation. This document assumes you are familiar with ProBridge and provides sensor-specific information.

Table of Contents
  1. CompressedImage
  2. CameraInfo
  3. Imu
  4. NavSatFix
  5. RayCast Lidar

CompressedImage

The CompressedImage publisher sends sensor_msgs.msg.CompressedImage messages. The following fields are available:

  • Format:
    • JPEG: The fastest option with support for adjustable compression quality.
    • PNG: Slower than JPEG but offers higher quality.
  • Render Camera:
    • This is where you reference the camera whose output will be published.
    • Note: The camera used here should not be the scene's main camera, as it will not render to the screen when referenced.
  • Texture Width:
    • Specifies the width of the output image.
  • Texture Height:
    • Specifies the height of the output image.
  • Compression Quality:
    • A slider (0–100) where 0 is the fastest (lowest quality) and 100 is the slowest (highest quality).
    • Note: This option is applicable only for the JPEG format.

For the CompressedImage output to be usable, it typically requires a CameraInfo publisher with the same frame_id. Follow this naming convention:

  • CompressedImage: /<CameraName>/compressed
  • CameraInfo: /<CameraName>/camera_info

CameraInfo

The CameraInfo publisher sends sensor_msgs.msg.CameraInfo messages. It has the following field:

  • Camera: The camera for which the information will be sent. This is usually the same camera connected to the CompressedImage publisher.

Imu

The Imu publisher sends sensor_msgs.msg.Imu messages. It requires the GameObject to have a Rigidbody component.

NavSatFix

The NavSatFix publisher sends sensor_msgs.msg.NavSatFix messages. It includes the following field:

  • Start LLA: Represents the initial latitude, longitude, and altitude (LLA) in Vector3 format.

RayCast Lidar

The RayCast Lidar publisher sends sensor_msgs.msg.PointCloud2 messages and has the following fields:

  • Scan Pattern: Select a scriptable object asset that defines the scan pattern. See the section below on creating or obtaining scan patterns.
  • Points Num Per Scan: The maximum number of points in each scan.
    • If the number of points in the scan pattern exceeds Points Num Per Scan, the scan will be divided and sent in smaller parts, each containing at most this number.
    • If the number of points is less than Points Num Per Scan, the full scan is sent in a single message.
  • Min Range: The minimum detection range.
  • Max Range: The maximum detection range.
  • Gaussian Noise Sigma: The standard deviation for Gaussian noise, controlling the noise spread.
  • Max Intensity: The highest possible intensity value for a point in the LiDAR sensor data.
  • Down Sample Scale: The percentage by which the number of points in the scan is reduced.
    • 0 means no downsampling; all points are scanned and sent.
    • 0.99 means only 1% of the points are scanned and sent.

Adding Scan Patterns

To add scan patterns, go to the Scan Pattern menu via ProBridge > Sensors > Add Scan Pattern.

Scan patterns can be added in three ways: from a CSV file, manually, or by downloading prebuilt patterns.

By CSV

  1. Go to the CSV tab in the Scan Pattern Menu.
  2. Select the CSV file (for reference on the CSV format, see this file).
  3. Set the desired zenith angle offset (if needed).
  4. Click Generate and wait for completion.
  5. The generated scan pattern will be saved to Assets/ScanPatterns.

Manually

  1. Go to the Manual tab in the Scan Pattern Menu.
  2. Enter the required details for the scan pattern.
  3. Click Generate and wait for completion.
  4. The generated scan pattern will be saved to Assets/ScanPatterns.

Prebuilt Patterns

  1. Go to the Prebuilt tab in the Scan Pattern Menu.
  2. Browse for the desired pattern.
  3. Click Download next to the pattern and wait for the process to complete.
  4. The downloaded scan pattern will be saved to Assets/ScanPatterns.