Class VelodynePhotosensorToPointCloud

The role of this class is to interpret the data incoming from the photosensor into a PointCloud data format to be consumed by the point cloud viewer node, and also into a PointCloud in the Velodyne output format.

Inheritance
Object
NodeRuntime
Transcoder
PhotosensorEncoder
PhotosensorToPointCloud
VelodynePhotosensorToPointCloud
VelodynePhotosensorToPointCloudNode
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
public class VelodynePhotosensorToPointCloud : PhotosensorToPointCloud

Fields

_devicePointCloud

Internal reference to the point cloud in Velodyne format.

Declaration
protected PointCloud _devicePointCloud
Field Value
Type Description
PointCloud

devicePointCloud

Declaration
[Tooltip("Point cloud in the Velodyne output format.")]
[Field("DevicePointCloud", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<PointCloud> devicePointCloud
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 PhotosensorEncoder compute shader with the PointCloudVfxCodec kernel 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

InternalPrepareDispatch(CommandBuffer, PhotosensorOutputBuffer, Int32)

Device-specific command buffer setup for conversion to point cloud.

Declaration
protected override void InternalPrepareDispatch(CommandBuffer cmd, PhotosensorOutputBuffer data, int sampleToEncodeCount)
Parameters
Type Name Description
CommandBuffer cmd

Command buffer provided any other ressources or parameters before dispatching the compute shader.
PhotosensorOutputBuffer data

The input buffer where the photosensor data is stored.
Int32 sampleToEncodeCount

Number of samples available from the input buffer.
Overrides

InternalUpdateOutputs(PhotosensorOutputBuffer, Int32)

Device-specific state and outputs update after conversion to point cloud.

Declaration
protected override void InternalUpdateOutputs(PhotosensorOutputBuffer data, int sampleToEncodeCount)
Parameters
Type Name Description
PhotosensorOutputBuffer data

The input buffer where the photosensor data is stored.
Int32 sampleToEncodeCount

Number of samples available from the input buffer.
Overrides