Class DepthToPointCloud

The role of this class is to convert a depth texture into PointCloud data that can be consumed by the point cloud viewer node.

Inheritance
Object
NodeRuntime
Transcoder
DepthToPointCloud
DepthToPointCloudNode
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
public class DepthToPointCloud : Transcoder

Fields

_pointCloud

Internal reference to the point cloud used to output the result.

Declaration
protected PointCloud _pointCloud
Field Value
Type Description
PointCloud

depthSamples

Declaration
[Field("DepthSamples", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<RenderTexture> depthSamples
Field Value
Type Description
PortType<RenderTexture>

pointCloud

Declaration
[Tooltip("Current state of the frame sampled.")]
[Field("PointCloud", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<PointCloud> pointCloud
Field Value
Type Description
PortType<PointCloud>

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 depth buffer into a point cloud buffer.

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

Custom pass context
Overrides