LidarModelLivox.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <filesystem>
#include <agxSensor/LidarModelReadFromFile.h>
#include <agxSensor/LidarRayPatternFromFile.h>
#include <agxSensor/LidarRayPatternGenerator.h>
 
namespace agxSensor
{
  inline std::string agxRayPatternPath(const std::string& fileName)
  {
    return AGX_ENVIRONMENT().getFilePath().find("MaterialLibrary/LidarRayPatterns/" + fileName);
  }
 
  class AGXSENSOR_EXPORT LidarModelLivoxAvia : public LidarModelReadFromFile
  {
    public:
      struct AviaDefaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 24000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 190.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("avia.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxAvia(size_t downSample = 1);
 
      LidarModelLivoxAvia(agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = AviaDefaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxAvia);
 
    protected:
      virtual ~LidarModelLivoxAvia() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxHap : public LidarModelReadFromFile
  {
    public:
      struct HapDefaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 45300;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 150.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("hap.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxHap(size_t downSample = 1);
 
      LidarModelLivoxHap(agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = HapDefaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxHap);
 
    protected:
      virtual ~LidarModelLivoxHap() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxHorizon : public LidarModelReadFromFile
  {
    public:
      struct HorizonDefaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 24000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 200.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("horizon.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxHorizon(size_t downSample = HorizonDefaults::downsample);
 
      LidarModelLivoxHorizon(
        agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = HorizonDefaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxHorizon);
 
    protected:
      virtual ~LidarModelLivoxHorizon() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxMid40 : public LidarModelReadFromFile
  {
    public:
      struct Mid40Defaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 10000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 90.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("mid40.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxMid40(size_t downSample = Mid40Defaults::downsample);
 
      LidarModelLivoxMid40(
        agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = Mid40Defaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxMid40);
 
    protected:
      virtual ~LidarModelLivoxMid40() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxMid70 : public LidarModelReadFromFile
  {
    public:
      struct Mid70Defaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 10000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.05f;
          static constexpr agx::Real32 rangeMax = 90.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("mid70.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxMid70(size_t downSample = Mid70Defaults::downsample);
 
      LidarModelLivoxMid70(
        agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = Mid70Defaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxMid70);
 
    protected:
      virtual ~LidarModelLivoxMid70() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxMid360 : public LidarModelReadFromFile
  {
    public:
      struct Mid360Defaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 20000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 40.0f;
          static constexpr agx::Real beamDivergence = 0.155f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("mid360.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxMid360(size_t downSample = Mid360Defaults::downsample);
 
      LidarModelLivoxMid360(
        agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = Mid360Defaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxMid360);
 
    protected:
      virtual ~LidarModelLivoxMid360() = default;
  };
 
  class AGXSENSOR_EXPORT LidarModelLivoxTele : public LidarModelReadFromFile
  {
    public:
      struct TeleDefaults
      {
          static constexpr agx::Real frequency = 10.0;
          static constexpr std::size_t frameSize = 24000;
          static constexpr std::size_t downsample = 1;
          static constexpr agx::Real32 rangeMin = 0.1f;
          static constexpr agx::Real32 rangeMax = 320.0f;
          static constexpr agx::Real beamDivergence = 0.07f;
          static constexpr agx::Real beamExitRadius = 0.005f;
 
          static agxSensor::RayFileDefinition rayDefinitionFile()
          {
            return agxSensor::RayFileDefinition {agxRayPatternPath("tele.bin"), false, true, true, ','};
          }
      };
 
      LidarModelLivoxTele(size_t downSample = TeleDefaults::downsample);
 
      LidarModelLivoxTele(agxSensor::RayFileDefinition rayFileDefinition, size_t downSample = TeleDefaults::downsample);
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarModelLivoxTele);
 
    protected:
      virtual ~LidarModelLivoxTele() = default;
  };
}