VelodynePhotosensorToPointCloud v2
This node will transcribe the photosensor output that is in spherical coordinates to two buffers of points in cartesian coordinates, one following Unity’s convention and the other following Velodyne’s.
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.
The conversion between Velodyne’s and Unity’s coordinates is as follow:
velodyne = (-unity.x, -unity.z, unity.y)
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 |
|---|---|---|
| DevicePointCloud | StructuredBuffer<PointXYZI> |
The sampled point cloud in Velodyne's output format. |
| PointCloud | StructuredBuffer<PointXYZI> |
The sampled point cloud in Unity's output format. |
| OutTranscode | CustomPassContext |
The graphic context after queuing the transcoding commands. |
Execution
Asynchronous. Executes when InTranscode changes.