PhotosensorToPointCloud v2
This node will transcribe the photosensor output that is in spherical coordinates to a buffer of points in cartesian coordinates.
Description
This node records a command on the command buffer provided by the custom pass context in the InTranscode that converts a raw lidar frame of type
StructuredBuffer<PhotosensorRawData> to a StructuredBuffer<PointXYZI> where PointXYZI is a structure with the point in cartesian coordinates and the respective intensity.
Inputs
| Name | Type | Description |
|---|---|---|
| Frame | StructuredBuffer<PhotosensorRawData> |
A buffer containing one full sweep from the photosensor. |
| InTranscode | CustomPassContext |
The graphic context into which to queue transcoding commands. |
Outputs
| Name | Type | Description |
|---|---|---|
| PointCloud | StructuredBuffer<PointXYZI> |
The sampled point cloud. |
| OutTranscode | CustomPassContext |
The graphic context after queuing the transcoding commands. |
Execution
Asynchronous. Executes when InTranscode changes.