Class LidarScan

Defined in File lidar_scan.h

Nested Relationships

Nested Types

Struct LidarScan::BlockHeader

Class Documentation

class LidarScan

Datastructure for efficient operations on aggregated lidar data.

Stores each field (range, intensity, etc.) contiguously as a H x W block of 4-byte unsigned integers, where H is the number of beams and W is the horizontal resolution (e.g. 512, 1024, 2048).

Note: this is the “staggered” representation where each column corresponds to a single measurement in time. Use the destagger() function to create an image where columns correspond to a single azimuth angle.

Public Types

enum Field

Data fields reported per channel

Values:

enumerator RANGE

enumerator INTENSITY

enumerator AMBIENT

enumerator REFLECTIVITY

using raw_t = uint32_t

using ts_t = std::chrono::nanoseconds

using data_t = Eigen::Array<raw_t, Eigen::Dynamic, N_FIELDS>

using DynStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>

using Points = Eigen::Array<double, Eigen::Dynamic, 3>: XYZ coordinates with dimensions arranged contiguously in columns

Public Functions

LidarScan() = default: The default constructor creates an invalid 0 x 0 scan

inline LidarScan(size_t w, size_t h)

Initialize an empty scan with the given horizontal / vertical resolution.

Parameters:

w – horizontal resoulution, i.e. the number of measurements per scan
h – vertical resolution, i.e. the number of channels

inline std::vector<LidarScan::ts_t> timestamps() const

Access timestamps as a vector.

Returns:: copy of the measurement timestamps as a vector

inline BlockHeader &header(size_t m_id)

Access measurement block header fields.

Returns:: the header values for the specified measurement id

inline const BlockHeader &header(size_t m_id) const

Access measurement block header fields.

Returns:: the header values for the specified measurement id

inline Eigen::Map<data_t, Eigen::Unaligned, DynStride> block(size_t m_id)

Access measurement block data.

Parameters:: m_id – the measurement id of the desired block
Returns:: a view of the measurement block data

inline Eigen::Map<const data_t, Eigen::Unaligned, DynStride> block(size_t m_id) const

Access measurement block data.

Parameters:: m_id – the measurement id of the desired block
Returns:: a view of the measurement block data

inline Eigen::Map<img_t<raw_t>> field(Field f)

Access a lidar data field.

Parameters:: f – the field to view
Returns:: a view of the field data

inline Eigen::Map<const img_t<raw_t>> field(Field f) const

Access a lidar data field.

Parameters:: f – the field to view
Returns:: a view of the field data

Public Members

std::ptrdiff_t w = {0}

std::ptrdiff_t h = {0}

data_t data = {}

std::vector<BlockHeader> headers = {}

int32_t frame_id = {-1}

Public Static Attributes

static constexpr int N_FIELDS = 4

struct BlockHeader

Measurement block information, other than the channel data

Public Members

ts_t timestamp

uint32_t encoder

uint32_t status