Added documents for migration to URP/HDRP, and fixed the incorrect depth pixel values in Depth Camera #185
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Contributor
Bob-Eric
commented
Nov 17, 2024
•
Bob-Eric
commented
- Rewrote the Depth Camera Shader by Shader Graph to better support URP/HDRP. And added documents for migration.
- The depth value of the depth camera means the perpendicular distance from the camera plane, not a straight line from the object to the camera lens. So it is corrected.
- Changed asmdef to exclude Editor scripts when building.
- Loaded the shader via a material reference and create the corresponding material. This means there is no longer need to add custom shaders to the Always Included Shaders when building.
- Merged branch beta/v2.x.x. It is now possible to encode colour images in RGB8, depth images in 32FC1 and 16UC1 formats.
- Added raycast layermask option for raycast-based lidar sensors.
- Fixed a bug in TF sensor.
- Updated to Unity 2023.2.
* Switch compressed image to raw image * Remove 'compressed' from camera topic name in camera prefab
…cs-Japan#182) * Update to test unity2020.3.x to 2022.3.x * Delete unnecessary files * Fix to delete unnecessary file copy
…pth camera support UPR/HDRP; load the shader via a material reference and create the corresponding material; rename the Color2Depth shader to DepthBufferLidar shader and use it for DepthBufferLidar; Change asmdef to exclude Editor scripts when packaging
… null references in RGBDCamera_ros prefab; adjusted texture format in RGBCameraSensor; updated ImageMsgSerializer to support raw texture data serialization .
…scripts; added GPU read error logging to DepthCameraSensor; updated RaycastCommand API in IUpdateRaycastCommandsJob; added UnitySensorsROS to Some sensor prefabs; added Raycast LayerMask in RaycastLiDARSensor.
…laces the PointUtilities class and updates the associated prefabs; remove redundant Usings
…chCount in Job to improve performance; added logging of GPU read errors; removed unsafe code in PointCloud2MsgSerializer.
…re data into a single array; disabled HUD display for ROS TCP Connector to avoid lag caused by frequent GC at high frame rates; removed redundant AlwaysIncludedShaders
…mera frame_id format; fixed TFMessageMsgSerializer multiple TransformStampedMsg references to the same HeaderMsg
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