UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor Class Reference

Inheritance diagram for UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor:

Collaboration diagram for UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor:

Public Member Functions
override void	Initialize ()
Public Member Functions inherited from UnitySensors.Sensor.UnitySensor
virtual IEnumerator	UpdateSensorOnce ()

Protected Member Functions
override void	Init ()
override IEnumerator	UpdateSensor ()
override void	OnSensorDestroy ()
Protected Member Functions inherited from UnitySensors.Sensor.LiDAR.LiDARSensor
override void	Init ()
override void	OnSensorDestroy ()
Protected Member Functions inherited from UnitySensors.Sensor.UnitySensor
void	Init ()
IEnumerator	UpdateSensor ()
void	OnSensorDestroy ()

Private Member Functions
void	SetupCamera ()
void	LoadScanData ()
void	SetupJobs ()

Private Attributes
int	_texturePixelsNum = 1
Vector2Int	_textureSizePerCamera
Material	_depthBufferLidarMat
bool	_rasterizeScans = false
float	_singleCameraFOV = 60.0f
Transform	_transform
JobHandle	_jobHandle
IUpdateGaussianNoisesJob	_updateGaussianNoisesJob
ITextureToPointsJob	_textureToPointsJob
RenderTexture	_rt
Texture2D	_texture
NativeArray< float >	_noises
NativeArray< Color >	_pixels
NativeArray< float3 >	_directions
NativeArray< int >	_pixelIndices
TextureLoader	_textureLoader
int	_camerasNum = 0
float	_horizontalFOV
List< UnityEngine.Camera >	_cameras = new List<UnityEngine.Camera>()

Additional Inherited Members
Public Attributes inherited from UnitySensors.Sensor.UnitySensor
Action	onSensorUpdateComplete
Package Attributes inherited from UnitySensors.Sensor.UnitySensor
float	_frequency = 10.0f
Properties inherited from UnitySensors.Sensor.LiDAR.LiDARSensor
ScanPattern	scanPattern [get]
float	minRange [get]
float	maxRange [get]
float	gaussianNoiseSigma [get]
float	maxIntensity [get]
PointCloud< PointXYZI >	pointCloud [get]
int	pointsNum [get]
Properties inherited from UnitySensors.Sensor.UnitySensor
float	dt [get]
float	time [get]
float	frequency [get, set]
Properties inherited from UnitySensors.Interface.Std.ITimeInterface
Properties inherited from UnitySensors.Interface.Sensor.IPointCloudInterface< PointXYZI >
PointCloud< T >	pointCloud [get]
int	pointsNum [get]

Member Function Documentation

Init()

override void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.Init ( )

protected

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Initialize()

override void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.Initialize ( )

virtual

Reimplemented from UnitySensors.Sensor.LiDAR.LiDARSensor.

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LoadScanData()

void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.LoadScanData ( )

private

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OnSensorDestroy()

override void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.OnSensorDestroy ( )

protected

SetupCamera()

void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.SetupCamera ( )

private

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SetupJobs()

void UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.SetupJobs ( )

private

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UpdateSensor()

override IEnumerator UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor.UpdateSensor ( )

protected

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Member Data Documentation

_cameras

List<UnityEngine.Camera> UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._cameras = new List<UnityEngine.Camera>()

private

_camerasNum

int UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._camerasNum = 0

private

_depthBufferLidarMat

Material UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._depthBufferLidarMat

private

_directions

NativeArray<float3> UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._directions

private

_horizontalFOV

float UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._horizontalFOV

private

_jobHandle

JobHandle UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._jobHandle

private

_noises

NativeArray<float> UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._noises

private

_pixelIndices

NativeArray<int> UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._pixelIndices

private

_pixels

NativeArray<Color> UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._pixels

private

_rasterizeScans

bool UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._rasterizeScans = false

private

_rt

RenderTexture UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._rt

private

_singleCameraFOV

float UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._singleCameraFOV = 60.0f

private

_texture

Texture2D UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._texture

private

_textureLoader

TextureLoader UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._textureLoader

private

_texturePixelsNum

int UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._texturePixelsNum = 1

private

_textureSizePerCamera

Vector2Int UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._textureSizePerCamera

private

_textureToPointsJob

ITextureToPointsJob UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._textureToPointsJob

private

_transform

Transform UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._transform

private

_updateGaussianNoisesJob

IUpdateGaussianNoisesJob UnitySensors.Sensor.LiDAR.DepthBufferLiDARSensor._updateGaussianNoisesJob

private

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The documentation for this class was generated from the following file:

• Packages/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs