Lidar Module

Classes
struct	LidarCalibration
	Structure containing beam geometry calibration data for raw data processing. More...
struct	LidarSensorConfiguration
	Structure containing runtime configuration of the Lidar sensor. More...
struct	LidarInformation
	Structure containing information about the Lidar device. More...
struct	LidarDeviceProperties
	Structure containing properties of a discovered Lidar device. More...
class	InitLidarParameters
	Structure containing the options used to initialize the Lidar object. More...
class	PositionalTrackingLidarParameters
	Structure containing the options used to enable positional tracking with Lidar. More...
class	RecordingLidarParameters
	Structure containing the options used to record Lidar data. More...
class	Lidar
	Class for Lidar control and data retrieval. It provides methods to initialize the Lidar, retrieve data, and enable positional tracking. Supports both live sensor input and OSF file playback. More...

Enumerations
enum class	LIDAR_MEASURE
	Lists available object types that can be retrieved from the Lidar. More...
enum class	LIDAR_VIEW
	Lists available view types that can be retrieved from the Lidar. More...
enum class	VIEW_COLOR_MAP
	Lists available colormaps for Lidar data visualization. More...
enum class	LIDAR_MODE
	Lists available Lidar modes (resolution and frequency). More...
enum class	LIDAR_MULTICAST_MODE
	Controls multicast streaming behavior for the Lidar sensor. More...
enum class	RECORDING_FORMAT
	Lists available recording formats for Lidar data. More...

Enumeration Type Documentation

LIDAR_MEASURE

enum LIDAR_MEASURE

strong

Lists available object types that can be retrieved from the Lidar.

Enumerator
RANGE	Range map (1 channel, float 32), similar to depth map but distance is real radial distance. Can be retrieved as a sl::Mat.
RANGE2	Range map for the second return (1 channel, float 32).
SIGNAL	Signal intensity map (1 channel, float 32).
SIGNAL2	Signal intensity map for the second return (1 channel, float 32).
INTENSITY	Intensity map (1 channel, float 32).
REFLECTIVITY	Reflectivity map (1 channel, float 32).
REFLECTIVITY2	Reflectivity map for the second return (1 channel, float 32).
NEAR_IR	Near IR map (1 channel, float 32).
XYZ	Point cloud (3 channels, float 32). Contains X, Y, Z coordinates.
XYZ_RANGE	Point cloud with range (4 channels, float 32). Contains X, Y, Z coordinates and Range value.
XYZ_RANGE2	Point cloud with range for second return (4 channels, float 32).
XYZ_SIGNAL	Point cloud with signal (4 channels, float 32).
XYZ_SIGNAL2	Point cloud with signal for second return (4 channels, float 32).
XYZ_INTENSITY	Point cloud with intensity (4 channels, float 32).
XYZ_REFLECTIVITY	Point cloud with reflectivity (4 channels, float 32).
XYZ_REFLECTIVITY2	Point cloud with reflectivity for second return (4 channels, float 32).
XYZ_NEAR_IR	Point cloud with near IR (4 channels, float 32).
XYZ_RANGE_VIEW	Point cloud with range view (4 channels, float 32).
XYZ_RANGE2_VIEW	Point cloud with range view for second return (4 channels, float 32).
XYZ_SIGNAL_VIEW	Point cloud with signal view (4 channels, float 32).
XYZ_SIGNAL2_VIEW	Point cloud with signal view for second return (4 channels, float 32).
XYZ_INTENSITY_VIEW	Point cloud with intensity view (4 channels, float 32).
XYZ_REFLECTIVITY_VIEW	Point cloud with reflectivity view (4 channels, float 32).
XYZ_REFLECTIVITY2_VIEW	Point cloud with reflectivity view for second return (4 channels, float 32).
XYZ_NEAR_IR_VIEW	Point cloud with near IR view (4 channels, float 32).
RANGE_RAW	Raw range in staggered format (F32_C1, meters). Note Use LidarCalibration::pixel_shift_by_row for destaggering. Use beam_altitude_angles and beam_azimuth_angles for custom XYZ projection.
RANGE2_RAW	Raw range for second return in staggered format (F32_C1, meters).
SIGNAL_RAW	Raw signal in staggered format (U16_C1, counts).
SIGNAL2_RAW	Raw signal for second return in staggered format (U16_C1, counts).
REFLECTIVITY_RAW	Raw reflectivity in staggered format (U16_C1, counts).
REFLECTIVITY2_RAW	Raw reflectivity for second return in staggered format (U16_C1, counts).
NEAR_IR_RAW	Raw near-IR in staggered format (U16_C1, counts).

LIDAR_VIEW

enum LIDAR_VIEW

strong

Lists available view types that can be retrieved from the Lidar.

Enumerator
INTENSITY
REFLECTIVITY
DEPTH
RANGE
SIGNAL
NEAR_IR
RANGE2
SIGNAL2
REFLECTIVITY2

VIEW_COLOR_MAP

enum VIEW_COLOR_MAP

strong

Lists available colormaps for Lidar data visualization.

Enumerator
AUTO
GREY
MAGMA
INFERNO
PLASMA
VIRIDIS
SPEZIA
TURBO
JET
BONE
GNUPLOT2

LIDAR_MODE

enum LIDAR_MODE

strong

Lists available Lidar modes (resolution and frequency).

Enumerator
AUTO
MODE_512x10
MODE_1024x10
MODE_2048x10
MODE_512x20
MODE_1024x20

LIDAR_MULTICAST_MODE

enum LIDAR_MULTICAST_MODE

strong

Controls multicast streaming behavior for the Lidar sensor.

Multicast allows multiple clients to receive data from the same sensor simultaneously. In unicast mode, only one client can receive data at a time.

Enumerator
OFF	Disable multicast, force unicast mode. The sensor will stream data only to this client. If another client is already receiving, this will take over (disrupting the other client).
AUTO	Automatic multicast management (default). Behavior depends on current sensor state: - If InitLidarParameters::multicast_group is set and valid: enables multicast with that IP - If InitLidarParameters::multicast_group is set but invalid: returns ERROR_CODE::CONFIGURATION_FALLBACK, uses current config - If sensor is already in multicast: joins existing group passively - If sensor is unicast and no other client connected: stays unicast - If sensor is unicast and another client connected: enables multicast to allow sharing.
ON	Force multicast mode. - If InitLidarParameters::multicast_group is set and valid: uses that IP - If InitLidarParameters::multicast_group is set but invalid: returns ERROR_CODE::INVALID_FUNCTION_PARAMETERS (hard fail) - If InitLidarParameters::multicast_group is empty: auto-selects a valid multicast IP (239.201.201.201)

RECORDING_FORMAT

enum RECORDING_FORMAT

strong

Lists available recording formats for Lidar data.

Enumerator
OSF
PCAP
PCD
AUTO