Template Class XYZLutT

Class Documentation

template<typename T>
class XYZLutT

Forward declaration for XYZLut.

Lookup table of beam directions and offsets.

Public Functions

inline XYZLutT(const SensorInfo &sensor, bool use_extrinsics = true)

Construct an XYZ lookup table using the provided sensor information.

Parameters:

  • sensor[in] Sensor metadata including intrinsics and resolution.

  • use_extrinsics[in] Whether to apply extrinsic calibration.

template<typename OldT>
inline XYZLutT(const XYZLutT<OldT> &xyzlut)

Construct an XYZ lookup table from an existing one of a different type.

Parameters:

xyzlut[in] XYZLut to duplicate from.

inline XYZLutT(ArrayX3R<T> direction, ArrayX3R<T> offset, size_t h, size_t w)

Construct an XYZ lookup table from its elements.

Parameters:

  • direction[in] Direction vectors from the sensor for each pixel.

  • offset[in] Offset vectors for each pixel.

  • h[in] Height of sensor array.

  • w[in] Width of sensor array.

XYZLutT() = default
inline PointCloudXYZ<T> operator()(const Eigen::Ref<const img_t<uint32_t>> &range) const
inline PointCloudXYZ<T> operator()(const LidarFrame &frame) const

Public Members

const ArrayX3R<T> direction

Unit direction vectors from the sensor for each pixel.

const ArrayX3R<T> offset

Offset vectors for each pixel, typically representing per-pixel translations.

Combined with direction and range to compute 3D coordinates.

const size_t h = 0

Height of the XYZLut data.

const size_t w = 0

Width of the XYZLut data.

Friends

friend class XYZLutT