TranscoderLidarUDP#
Transcodes RTSensor buffer to Lidar UDP packets
Installation#
To use this Node, you must enable omni.drivesim.sensors.nv.lidar in the Extension Manager.
Inputs#
Name |
Type |
Description |
Default |
|---|---|---|---|
src |
|
RtSensor buffer id |
0 |
cudaStream |
|
Cuda Stream Input |
0 |
returnType |
|
Desired return type (0 - First, 1 - last, 2 - Strongest, 3 - MultipleReturns |
3 |
sensorProfileName |
|
Filename of the sensor profile - has to be the same as in lidar model |
Velodyne_HDL64E_S3 |
remotePort |
|
Port of the connection |
46003 |
remoteIP |
|
IP of the connection |
127.0.0.1 |
interfaceIP |
|
Interface IP of the connection for multicast settings |
127.0.0.1 |
commandPort |
|
Port of the command backchannel |
9347 |
runMode |
|
Run mode of the encoder, 0 - CPU, 1 - GPU |
0 |
simTime |
|
Simulation time given from PostProcessEntryNode |
0 |
dumpPackets |
|
Dump packets as dwBinFile |
False |
sendPackets |
|
Dump packets as dwBinFile |
True |
fileName |
|
File name of the packets |
|
encoderType |
|
Encoder Type – needed if there are different versions of the sensor (e.g., NCD) |
2 |
decoderPath |
|
Optional, decoder path for file dumping |
|
serviceId |
|
Service Id for Some-IP sensors |
41632 |