Struct BeamConfig

Struct Documentation

struct BeamConfig

Beam configuration structure for LIDAR sensors.

Public Functions

BeamConfig(uint32_t n_cols_init, const std::vector<double> &px_altitudes_init, const std::vector<double> &px_azimuths_init, mat4d beam_to_lidar_transform_init, mat4d lidar_to_sensor_transform_init, nonstd::optional<mat4d> sensor_to_body_transform_init, float m_per_zmbin_init, uint64_t serial_number_init)

Parameterized constructor.

Parameters:

  • n_cols_init[in] Number of columns in the LIDAR data

  • px_altitudes_init[in] Vector of pixel altitudes

  • px_azimuths_init[in] Vector of pixel azimuths

  • beam_to_lidar_transform_init[in] Transformation matrix from beam to LIDAR frame

  • lidar_to_sensor_transform_init[in] Transformation matrix from LIDAR to sensor frame

  • sensor_to_body_transform_init[in] Extrinsic transformation matrix zone rendered binary format

  • m_per_zmbin_init[in] Scale factor for Zrb encoding

  • serial_number_init[in] Serial number of the sensor

bool operator==(BeamConfig const &rhs) const

Returns true if this BeamConfig equals another BeamConfig.

Parameters:

rhs[in] The other BeamConfig to compare against

Returns:

True if the two BeamConfigs are equal, false otherwise

bool operator!=(BeamConfig const &rhs) const

Returns true if this BeamConfig does not equal another BeamConfig.

Parameters:

rhs[in] The other BeamConfig to compare against

Returns:

True if the two BeamConfigs are not equal, false otherwise

Public Members

uint32_t n_cols

Number of columns in the LIDAR data.

uint32_t n_rows

Number of rows in the LIDAR data.

mat4d beam_to_lidar_transform

Transformation matrix from beam to LIDAR frame.

mat4d lidar_to_sensor_transform

Transformation matrix from LIDAR to sensor frame.

nonstd::optional<mat4d> sensor_to_body_transform = {}

Extrinsic transformation matrix.

float m_per_zmbin

Scale factor for Zrb encoding - sensor architecture and OS-dependent.

uint64_t serial_number

Serial number of the sensor.

std::vector<double> px_altitudes

Pixel altitudes in degrees.

std::vector<double> px_azimuths

Pixel azimuths in degrees.

std::shared_ptr<XYZLut> lut

Lookup table for converting pixel coordinates to Cartesian coordinates.

std::shared_ptr<XYZLut> lut_no_sensor_to_body_transform

Lookup table for converting pixel coordinates to Cartesian coordinates without sensor_to_body_transform.