Class CorrectPointCloudMotion

Represents a transcoder taking an input point cloud distorted by motion, and generating the corrected output point cloud.

Inheritance
Object
NodeRuntime
Transcoder
CorrectPointCloudMotion
CorrectPointCloudMotionNode
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
public class CorrectPointCloudMotion : Transcoder
Remarks

If a lidar moves during acquisition, each depth is measured at a different moment in time, and thus, each point has a different reference frame. This class adjusts the points so they are all expressed in the last pose of the reference frame.

Fields

_correctedPointCloud

Point cloud where motion distortion has been corrected.

Declaration
protected PointCloud _correctedPointCloud
Field Value
Type Description
PointCloud

_prevReferenceToWorldPose

Reference frame pose during the last call to Transcode(CustomPassContext).

Declaration
protected Pose _prevReferenceToWorldPose
Field Value
Type Description
Pose

beamCount

Declaration
[Tooltip("The number of laser beams stacked vertically.")]
[Field("BeamCount", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> beamCount
Field Value
Type Description
PortType<UInt32>

enableCorrection

Declaration
[Tooltip("Whether to apply a correction or act as a passthrough.")]
[Field("EnableCorrection", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<bool> enableCorrection
Field Value
Type Description
PortType<Boolean>

inPointCloud

Declaration
[Tooltip("The input point cloud with motion distortion.")]
[Field("InPointCloud", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<PointCloud> inPointCloud
Field Value
Type Description
PortType<PointCloud>

isCellsSync

Declaration
[Tooltip("Whether vertically-stacked lasers fire simultaneously or sequentially.")]
[Field("IsCellsSync", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<bool> isCellsSync
Field Value
Type Description
PortType<Boolean>

outPointCloud

Declaration
[Tooltip("The output point cloud where motion distortion has been corrected.")]
[Field("OutPointCloud", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<PointCloud> outPointCloud
Field Value
Type Description
PortType<PointCloud>

referenceToWorldTransform

The Transform in which the point clouds are expressed.

Declaration
[Binding("Reference frame")]
[SerializeField]
protected Binding<Transform> referenceToWorldTransform
Field Value
Type Description
Binding<Transform>

Properties

ReferenceToWorldPose

Retrieves the current pose of the reference frame.

Declaration
protected Pose ReferenceToWorldPose { get; }
Property Value
Type Description
Pose
Remarks

If there is no bound transform to the reference frame, returns the identity pose instead.

Methods

Disable()

Disable change event on the inTranscode port and release the graphics resources.

Declaration
public override void Disable()
Overrides

Enable(Scheduler.ClockState)

Initialize the transcoder shader and enable on change event on the on inTranscode port.

Declaration
public override void Enable(Scheduler.ClockState clockState)
Parameters
Type Name Description
Scheduler.ClockState clockState

The parameters of the waveform associated to this node
Overrides

Transcode(CustomPassContext)

Add to the command buffer the conversion of the point cloud buffer into a depth buffer.

Declaration
protected override void Transcode(CustomPassContext ctx)
Parameters
Type Name Description
CustomPassContext ctx

Custom pass context
Overrides