protected virtual void Update()
{
SensorCamera.fieldOfView = FieldOfView;
SensorCamera.nearClipPlane = MinDistance;
SensorCamera.farClipPlane = MaxDistance;
if (Distorted)
{
CheckDistortion();
}
while (Tasks.Count > 0 && Tasks.Peek().IsCompleted)
{
Tasks.Dequeue();
}
CheckTexture();
CheckCapture();
if (CameraInfoPublish != null)
{
InitCameraInfoData();
}
ReadbackPool.Process();
}
private void CheckCapture()
{
if (Time.time >= NextCaptureTime)
{
RenderCamera();
ReadbackPool.StartReadback(PointCloudBuffer);
if (NextCaptureTime < Time.time - Time.deltaTime)
{
NextCaptureTime = Time.time + 1.0f / RotationFrequency;
}
else
{
NextCaptureTime += 1.0f / RotationFrequency;
}
}
ReadbackPool.Process();
}
