micus / hokuyo-unity

hokuyo laser rangefinder for object detection on a surface for Unity

hokuyo-unity

...WORKING IN PROGRESS...

this is modified based on https://github.com/inoook/UnityURG

code is still at a very primitive state, object detection can be improved

improvments and contributions are very welcomed.

this library works with multiple Hokuyo sensors, you need to give each of them a unique IP.

why

I need to make a large wall into a "touch screen" so all code here are wrote to server this single purpose.

for example, the strength data from the sensor is compeltely ignored here since it doesn't help us detecting objects on a surface. (as the sensor can detect things from pretty far!)

to better "converting a surface into a touch screen", I added the distance cropping mechnaism, to help ignore the things that are out of the detection area.

there are two ways to constrain the detection area:

• Rect
• Radius

if you choose Rect Mode, the sensor will only detect things within a rect area. You can change the width and height of the rect area by changing detectRectWidth and detectRectHeight the unit is mm (same as everything else!)

if you choose Radius Mode, the detection area will be a circular sector, the detection distance will be the same for all direction, you can change the detection radius by changing maxDetectionDist

Either Distance Cropping Mode will ignore things behind the sensor. which means 90 radians of detectable area will be wasted.

Prepare

you will need to do some setting up in the network setting of Windows befor you can get any data:

https://sourceforge.net/p/urgnetwork/wiki/ip_address_en/

Files:

• URGSensorObjectDetector

this is the class for "detecting" object from sensor raw data

• UrgDeviceEthernet

This is where we get the raw data from the sensor

• SCIP_library

Used by UrgDeviceEthernet, for low-level communication with the sensor

How to use

Attach URGSensorObjectDetector to an empty GameObject or use the Prefab Sensor Data

Warning

I only have two Hokuyo UST-10LX so obviously this code is not tested on any other Hokuyo sensor model... but it should work with most of them!