Class VelodynePhotosensorToPointCloudV2

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
PhotosensorTranscoder
PhotosensorToPointCloudV2
VelodynePhotosensorToPointCloudV2
Inherited Members
NodeRuntime._parent
NodeRuntime._portList
NodeRuntime._queryPath
NodeRuntime._tickCPUTimeNs
NodeRuntime.Initialize(SystemGraphComponent)
NodeRuntime.FixedUpdate()
NodeRuntime.InitializeDynamicPorts(SystemGraphComponent)
Namespace: Mechatronics.SensorSDK
Assembly: solution.dll
Syntax
[NodeCategory("Photosensor Transcoder", "VelodynePhotosensorToPointCloud v2", NodeTick.Asynchronous, (LifeCycle)0, 0, NodeMode.Standard, false)]
[HelpURL("https://docs.unity3d.com/Packages/com.unity.sensorsdk@2.1/manual/NodeReference/PhotosensorTranscoder/VelodynePhotosensorToPointCloud.html")]
public class VelodynePhotosensorToPointCloudV2 : PhotosensorToPointCloudV2

Fields

Name Description
_devicePointCloud

Internal reference to the point cloud in Velodyne format.
devicePointCloud

Methods

Name Description
Disable()

Disable change event on the inTranscode port and release the graphics resources.
Enable(ClockState)

Initialize the PhotosensorEncoder compute shader with the PointCloudVfxCodec kernel and enable on change event on the on inTranscode port.
InternalPrepareDispatch(CommandBuffer)

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

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