Class ShotNoise

Provide a custom noise on lidar intensity.

Inheritance
Object
NodeRuntime
Transcoder
ShotNoise
ShotNoiseNode
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
public class ShotNoise : Transcoder

Fields

_randomValues

Intenal buffer to provide normal distributed random values to the shader.

Declaration
protected ComputeBuffer _randomValues
Field Value
Type Description
ComputeBuffer

apertureRadius

Declaration
[Tooltip("Radius of photosensor aperture")]
[Field("Aperture Radius(m)", PortDirection.Left, FieldExtra.Read | FieldExtra.Constant)]
[SerializeField]
protected PortType<float> apertureRadius
Field Value
Type Description
PortType<Single>

dutyCycle

Declaration
[Tooltip("Photosensor Exposure Duty Cycle")]
[Field("Exposure Duty Cycle(%)", PortDirection.Left, FieldExtra.Read | FieldExtra.Constant)]
[SerializeField]
protected PortType<float> dutyCycle
Field Value
Type Description
PortType<Single>

framePeriod

Declaration
[Tooltip("Time elapsed since the last encode request.")]
[Field("FramePeriod", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> framePeriod
Field Value
Type Description
PortType<Single>

lambda

Declaration
[Tooltip("Lambda for the poisson process.")]
[Field("Noise Lambda(Number of Photons)", PortDirection.Left, FieldExtra.Read | FieldExtra.Constant)]
[SerializeField]
protected PortType<float> lambda
Field Value
Type Description
PortType<Single>

noisyIntensity

Declaration
[Tooltip("Output noisy intensity.")]
[Field("Intensity", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<RawData> noisyIntensity
Field Value
Type Description
PortType<RawData>

rawData

Declaration
[Tooltip("A circular buffer containing the photosensor samples.")]
[Field("RawData", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<RawData> rawData
Field Value
Type Description
PortType<RawData>

samplingRate

Declaration
[Tooltip("The sampling rate used to fill the incoming raw data.")]
[Field("SamplingRate", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> samplingRate
Field Value
Type Description
PortType<UInt32>

wavelength

Declaration
[Tooltip("Photon Wavelength")]
[Field("Wavelength(nm)", PortDirection.Left, FieldExtra.Read | FieldExtra.Constant)]
[SerializeField]
protected PortType<float> wavelength
Field Value
Type Description
PortType<Single>

Methods

Disable()

Disable the change event and release the graphic resources.

Declaration
public override void Disable()
Overrides

Enable(Scheduler.ClockState)

Enable the change event on the input inTranscode, build the random value distribution and initialize the compute shader.

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 application of the noise on the intensity buffer.

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

Custom pass context
Overrides