cscの作法 その584

概要

cscの作法、調べてみた。
OpenRCF v2.8、見つけたので、windows11で、MSbuildしてみた。
Lidarを、調査してみた。

写真

PointClundの比較

[0]は、コサイン
[1]は、サインに、見える。

no	障害物有り[0]	障害物無し[0]	差	障害物有り[1]	障害物無し[1]	差
0	-2.75	-6	3.25	0	0	0
1	-2.75	-5.992502	3.242502	-0.1376147	-0.2998753	0.1622606
2	-2.75	-5.970025	3.220025	-0.2759204	-0.5990009	0.3230805
3	-2.75	-5.932626	3.182626	-0.4156219	-0.8966293	0.4810074
4	-2.75	-5.880399	3.130399	-0.5574526	-1.192016	0.6345634
5	-2.75	-5.813474	3.063474	-0.7021904	-1.484424	0.7822336
6	-2.75	-5.732019	2.982019	-0.8506747	-1.773121	0.9224463
7	-2.75	-5.636236	2.886236	-1.003828	-2.057386	1.053558
8	-2.75	-5.526366	2.776366	-1.162681	-2.33651	1.173829
9	-2.75	-5.402682	2.652682	-1.328402	-2.609794	1.281392
10	-5.265495	-5.265495	0	-2.876554	-2.876554	0
11	-5.115147	-5.115147	0	-3.136124	-3.136124	0
12	-4.952013	-4.952013	0	-3.387855	-3.387856	1E-06
13	-4.776503	-4.776503	0	-3.631119	-3.631119	0
14	-4.589053	-4.589053	0	-3.865307	-3.865307	0
15	-4.390133	-4.390133	0	-4.089833	-4.089833	0
16	-4.18024	-4.18024	0	-4.304137	-4.304137	0
17	-3.959899	-3.959899	0	-4.507683	-4.507683	0
18	-3.72966	-3.72966	0	-4.699962	-4.699962	0
19	-3.490098	-3.490098	0	-4.880493	-4.880493	0
20	-3.241814	-3.241814	0	-5.048826	-5.048826	0
21	-2.985426	-2.985426	0	-5.20454	-5.20454	0
22	-2.721576	-2.721576	0	-5.347245	-5.347245	0
23	-2.450924	-2.450924	0	-5.476584	-5.476584	0
24	-2.174146	-2.174146	0	-5.592236	-5.592236	0
25	-1.891934	-1.891934	0	-5.693909	-5.693909	0
26	-1.604993	-1.604993	0	-5.78135	-5.78135	0
27	-1.31404	-1.31404	0	-5.854342	-5.854342	0
28	-1.019802	-1.019802	0	-5.9127	-5.9127	0
29	-0.723016	-0.723016	0	-5.95628	-5.95628	0
30	-0.4244226	-0.4244226	0	-5.984972	-5.984972	0
31	-0.1247682	-0.1247682	0	-5.998704	-5.998704	0
32	0.1751979	0.1751979	0	-5.997443	-5.997443	0
33	0.4747262	0.4747262	0	-5.981191	-5.981191	0
34	0.7730679	0.7730679	0	-5.94999	-5.94999	0
35	1.069477	1.069477	0	-5.903917	-5.903917	0
36	1.363214	1.363214	0	-5.843087	-5.843087	0
37	1.653543	1.653543	0	-5.767653	-5.767653	0
38	1.939739	1.939739	0	-5.677802	-5.677802	0
39	2.221086	2.221086	0	-5.57376	-5.57376	0
40	2.496882	2.496882	0	-5.455786	-5.455786	0
41	2.766438	2.766438	0	-5.324175	-5.324175	0
42	3.029078	3.029078	0	-5.179257	-5.179257	0
43	3.284147	3.284147	0	-5.021394	-5.021394	0
44	3.531008	3.531008	0	-4.85098	-4.85098	0
45	3.769043	3.769043	0	-4.66844	-4.66844	0
46	3.997658	3.997658	0	-4.474233	-4.474233	0
47	4.21628	4.21628	0	-4.268842	-4.268842	0
48	4.424364	4.424364	0	-4.052781	-4.05278	-1E-06
49	4.621389	4.621389	0	-3.82659	-3.82659	0
50	4.806864	4.806864	0	-3.590834	-3.590834	0
51	4.980323	4.980323	0	-3.346104	-3.346104	0
52	5.141335	5.141335	0	-3.09301	-3.09301	0
53	2.75	5.289495	-2.539495	-1.472448	-2.832185	1.359737
54	2.75	5.424435	-2.674435	-1.300001	-2.564281	1.26428
55	2.75	5.545816	-2.795816	-1.135524	-2.289967	1.154443
56	2.75	5.653336	-2.903336	-0.9777074	-2.00993	1.0322226
57	2.75	5.746725	-2.996725	-0.8254075	-1.724869	0.8994615
58	2.75	5.825751	-3.075751	-0.6776151	-1.435497	0.7578819
59	2.75	5.890215	-3.140215	-0.533423	-1.142537	0.609114
60	2.75	5.939957	-3.189957	-0.3920032	-0.8467207	0.4547175
61	2.75	5.974852	-3.224852	-0.2525868	-0.5487881	0.2962013
62	2.75	5.994813	-3.244813	-0.1144461	-0.249485	0.1350389
63	2.75	5.99979	-3.24979	0.02312049	0.0504427	-0.02732221
64	2.75	5.98977	-3.23977	0.1608028	0.3502445	-0.1894417
65	2.75	5.96478	-3.21478	0.2992933	0.6491709	-0.3498776
66	2.75	5.924881	-3.174881	0.4393005	0.9464741	-0.5071736
67	2.75	5.870173	-3.120173	0.5815642	1.241411	-0.6598468
68	2.75	5.800792	-3.050792	0.7268712	1.533247	-0.8063758
69	2.75	5.716912	-2.966912	0.8760736	1.821249	-0.9451754
70	2.75	5.618743	-2.868743	1.03011	2.1047	-1.07459
71	2.75	5.50653	-2.75653	1.190032	2.38289	-1.192858
72	2.75	5.380553	-2.630553	1.357033	2.655123	-1.29809
73	5.241128	5.241128	0	2.920721	2.920721	0
74	5.088603	5.088603	0	3.179018	3.179018	0
75	4.923359	4.923359	0	3.429369	3.429369	0
76	4.745809	4.745809	0	3.671149	3.671148	1E-06
77	4.556397	4.556397	0	3.903752	3.903753	-1E-06
78	4.355596	4.355596	0	4.126599	4.126598	1E-06
79	4.143909	4.143909	0	4.339131	4.33913	1E-06
80	3.921864	3.921864	0	4.540817	4.540817	0
81	3.690016	3.690016	0	4.731154	4.731153	1E-06
82	3.448946	3.448946	0	4.909665	4.909666	-1E-06
83	3.199254	3.199254	0	5.075904	5.075905	-1E-06
84	2.941566	2.941566	0	5.229457	5.229456	1E-06
85	2.676526	2.676526	0	5.369938	5.369938	0
86	2.404796	2.404796	0	5.496998	5.496998	0
87	2.127055	2.127055	0	5.610318	5.610317	1E-06
88	1.843998	1.843998	0	5.709615	5.709616	-1E-06
89	1.556332	1.556332	0	5.794641	5.794641	0
90	1.264776	1.264776	0	5.865183	5.865183	0
91	0.970058	0.970058	0	5.921066	5.921066	0
92	0.6729157	0.6729157	0	5.962149	5.962149	0
93	0.3740915	0.3740915	0	5.98833	5.988329	1E-06
94	0.07433221	0.07433221	0	5.999543	5.999542	1E-06
95	-0.2256128	-0.2256128	0	5.99576	5.99576	0
96	-0.524994	-0.524994	0	5.976991	5.976992	-1E-06
97	-0.8230629	-0.8230629	0	5.943283	5.943283	0
98	-1.119075	-1.119075	0	5.894719	5.89472	-1E-06
99	-1.412289	-1.412289	0	5.831422	5.831423	-1E-06
100	-1.701974	-1.701974	0	5.753549	5.75355	-1E-06
101	-1.987404	-1.987404	0	5.661295	5.661295	0
102	-2.267867	-2.267867	0	5.554891	5.554892	-1E-06
103	-2.542662	-2.542662	0	5.434603	5.434603	0
104	-2.811101	-2.811101	0	5.300731	5.300732	-1E-06
105	-3.072514	-3.072514	0	5.15361	5.15361	0
106	-3.326248	-3.326248	0	4.993608	4.993608	0
107	-3.571667	-3.571667	0	4.821124	4.821123	1E-06
108	-3.808159	-3.808159	0	4.63659	4.636589	1E-06
109	-4.035133	-4.035133	0	4.440466	4.440466	0
110	-4.252021	-4.252021	0	4.233244	4.233244	0
111	-4.458282	-4.458282	0	4.015441	4.015442	-1E-06
112	-4.653398	-4.653398	0	3.787602	3.787601	1E-06
113	-4.836884	-4.836884	0	3.550295	3.550295	0
114	-5.008279	-5.008279	0	3.304115	3.304115	0
115	-5.167157	-5.167157	0	3.049676	3.049676	0
116	-2.75	-5.31312	2.56312	1.442832	2.787615	-1.344783
117	-2.75	-5.445803	2.695803	1.271825	2.518585	-1.24676
118	-2.75	-5.564874	2.814874	1.108555	2.243261	-1.134706
119	-2.75	-5.670035	2.920035	0.9517413	1.96233	-1.0105887
120	-2.75	-5.761025	3.011025	0.8002669	1.676494	-0.8762271
121	-2.75	-5.837615	3.087615	0.6531408	1.386467	-0.7333262
122	-2.75	-5.899614	3.149614	0.509471	1.092976	-0.583505
123	-2.75	-5.946867	3.196867	0.3684406	0.796752	-0.4283114
124	-2.75	-5.979256	3.229256	0.2292886	0.4985361	-0.2692475
125	-2.75	-5.9967	3.2467	0.09129301	0.1990757	-0.10778269

サンプルコード

using System;
using System.Windows;
using OpenRCF;
using Vector = OpenRCF.Vector;
using OpenTK;
using OpenTK.Graphics;
using OpenTK.Graphics.OpenGL;


namespace OpenRCF
{
	partial class MainWindow: Window {
		bool isMoved = false;

		LiDAR lidar1 = new LiDAR();
		Cuboid[] cuboids = new Cuboid[2];

		void Setup() {
			//Console.WriteLine(lidar1.StepAngle);//0.05
			//Console.WriteLine(lidar1.PointRadius);//0.02

			cuboids[0] = new Cuboid(0.5f, 3, 0.8f);
			cuboids[0].Position[0] = 3.0f;
			cuboids[0].Position[2] = 0.4f;

			cuboids[1] = new Cuboid(0.5f, 3, 0.8f);
			cuboids[1].Position[0] = -3.0f;
			cuboids[1].Position[2] = 0.4f;

			lidar1.Position.Follow(Keyboard.ShiftVector[0]);
			lidar1.Rotate.Follow(Keyboard.CtrlMatrix[0]);
			lidar1.Position[2] = 0.4f;

			Button1.Content = "start";
			Button2.Content = "stop";
			Button3.Content = "scan";
			Button4.Content = "none";
			Button5.Content = "none";
		}
		void Loop() {
			if (isMoved)
			{
				float[][] pointCloud = lidar1.PointCloud(cuboids);
				int pointNum = pointCloud.GetLength(0);
				//Console.WriteLine(pointNum);//126
				float[] point0 = pointCloud[0];
				//Console.WriteLine(point0.GetLength(0));//3
				float[] point1 = pointCloud[1];
				float[] point2 = pointCloud[2];
				int i;
				int j;
				for (i = 0; i < 126; i++)
				{
					Console.WriteLine(pointCloud[i][0]);
				}
			}
		}
		void Draw() {
			lidar1.Draw();
			cuboids[0].Draw();
			cuboids[1].Draw();
		}
		void Button1_Click(object sender, RoutedEventArgs e) {
			isMoved = true;
		}
		void Button2_Click(object sender, RoutedEventArgs e) {

			isMoved = false;
		}
		void Button3_Click(object sender, RoutedEventArgs e) {
			float[][] pointCloud = lidar1.PointCloud(cuboids);
			int i;
			for (i = 0; i < 126; i++)
			{
				Console.WriteLine(pointCloud[i][1]);
			}
		}
		void Button4_Click(object sender, RoutedEventArgs e) {
		}
		void Button5_Click(object sender, RoutedEventArgs e) {
		}
	}
}

以上。