Class PointCloudToDepth

The role of this class is to project the PointCloud data inside a frustum described by the input port onto a 2DTexture.

Inheritance

Object

NodeRuntime

Transcoder

PointCloudToDepth

PointCloudToDepthNode

Inherited Members

Transcoder.inTranscode

Transcoder.outTranscode

Transcoder._computeShader

Transcoder._computeKernelIdx

Transcoder.EnableInterfaceOnChangeEvent()

Transcoder.DisableInterfaceOnChangeEvent()

Transcoder.InitializeComputeShader(String, String)

Transcoder.Release()

NodeRuntime._parent

NodeRuntime._portList

NodeRuntime._queryPath

NodeRuntime._tickCPUTimeNs

NodeRuntime.Initialize(SystemGraphComponent)

NodeRuntime.InternalInitialize()

NodeRuntime.Start()

NodeRuntime.OnTick(Double, Double, Scheduler.ClockState, Scheduler.Signal)

NodeRuntime.Update()

NodeRuntime.FixedUpdate()

NodeRuntime.OnPortAdded(String, Type, String, PortDirection, FieldExtra, IPortType)

NodeRuntime.OnPortRemoved(String)

NodeRuntime.InitializeDynamicPorts(SystemGraphComponent)

NodeRuntime.QueryPath

NodeRuntime.TickCPUTimeNs

NodeRuntime.PortDataList

Namespace: Mechatronics.SensorSDK

Syntax

public class PointCloudToDepth : Transcoder

Fields

_outputBuffer

Internal reference to the render texture used to output the result.

Declaration

protected RenderTexture _outputBuffer

Field Value

Type	Description
RenderTexture

depth

Declaration

[Field("Depth", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<RenderTexture> depth

Field Value

Type	Description
PortType<RenderTexture>

farPlane

Declaration

[Tooltip("Far clipping plane of the frustum.")]
[Field("FarPlane", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> farPlane

Field Value

Type	Description
PortType<Single>

fov

Declaration

[Tooltip("Field of view")]
[Field("Fov", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> fov

Field Value

Type	Description
PortType<Single>

height

Declaration

[Tooltip("Vertical number of pixels")]
[Field("Height", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> height

Field Value

Type	Description
PortType<UInt32>

nearPlane

Declaration

[Tooltip("Near clipping plane of the frustum.")]
[Field("NearPlane", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> nearPlane

Field Value

Type	Description
PortType<Single>

pointCloud

Declaration

[Tooltip("Current state of the frame sampled.")]
[Field("PointCloud", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<PointCloud> pointCloud

Field Value

Type	Description
PortType<PointCloud>

width

Declaration

[Tooltip("Horizontal number of pixels")]
[Field("Width", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> width

Field Value

Type	Description
PortType<UInt32>

Methods

Disable()

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

Declaration

public override void Disable()

Overrides

NodeRuntime.Disable()

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

NodeRuntime.Enable(Scheduler.ClockState)

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

Transcoder.Transcode(CustomPassContext)