Function OS1::get_px_offset

Function Documentation

inline std::vector<int> OS1::get_px_offset(int lidar_mode)

Generate a table of pixel offsets based on the scan width (512, 1024, or 2048 columns). These can be used to create a de-staggered range image where each column of pixels has the same azimuth angle from raw sensor output. The offset is the starting column of each row in the de-staggered lidar scan.

Parameters

W – number of columns in the lidar scan. One of 512, 1024, or 2048.

Returns

vector of H pixel offsets