Class YDLidarX4ToPointCloud

This transcoder transform a raw buffer with samples, stored into a raw YDLidar data format, into a compatible buffer to be viewed by the SensorSDK point cloud viewer.

Inheritance
Object
NodeRuntime
Transcoder
YDLidarX4ToPointCloud
YDLidarX4ToPointCloudNode
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
public class YDLidarX4ToPointCloud : Transcoder

Fields

_pointCloud

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

Declaration
protected PointCloud _pointCloud
Field Value
Type Description
PointCloud

inputBuffer

Declaration
[Tooltip("Data encoded with the raw YDLidar X4 data format.")]
[Field("RawData", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<RawData> inputBuffer
Field Value
Type Description
PortType<RawData>

pointCloud

Declaration
[Tooltip("Lidar point cloud.")]
[Field("PointCloud", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<PointCloud> pointCloud
Field Value
Type Description
PortType<PointCloud>

Methods

Disable()

Disable the change event on the input render texture and release the graphic resources.

Declaration
public override void Disable()
Overrides

Enable(Scheduler.ClockState)

Enable the change event on the input inTranscode 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

Release()

Release the graphics resources.

Declaration
protected override void Release()
Overrides

Transcode(CustomPassContext)

Add to the command buffer the conversion from the YDLidarX4 raw data into a pointcloud.

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

Custom pass context
Overrides