Lidar Class Reference

Class for managing a LiDAR device. More...

Functions
def	__cinit__ (self)
	Default constructor.
def	__dealloc__ (self)
	Destructor.
ERROR_CODE	open (self, InitLidarParameters, params)
	Opens the LiDAR.
bool	is_opened (self)
	Checks if the LiDAR is opened.
InitLidarParameters	get_init_parameters (self)
	Returns the initialization parameters used to open the LiDAR.
LidarInformation	get_lidar_information (self)
	Returns information about the Lidar sensor.
ERROR_CODE	read (self)
	Reads the latest data from the LiDAR sensor.
ERROR_CODE	grab (self)
	Grabs and processes a new frame of data.
ERROR_CODE	retrieve_measure (self, Mat, py_mat, measure=LIDAR_MEASURE.XYZ, resolution=None, mem_type=MEM.CPU, color_map=VIEW_COLOR_MAP.AUTO)
	Retrieves a measure from the LiDAR. More...
ERROR_CODE	retrieve_view (self, Mat, py_mat, view=LIDAR_VIEW.DEPTH, resolution=None, color_map=VIEW_COLOR_MAP.AUTO)
	Retrieves a view image from the LiDAR. More...
Timestamp	get_timestamp (self, reference_time=TIME_REFERENCE.IMAGE)
	Returns the current timestamp.
float	get_current_fps (self)
	Returns the current framerate.
ERROR_CODE	get_sensors_data (self, SensorsData, data, reference_time=TIME_REFERENCE.IMAGE)
	Returns the sensors data (IMU, etc.) from the LiDAR.
ERROR_CODE	enable_positional_tracking (self, PositionalTrackingLidarParameters, params=None)
	Enables positional tracking for the LiDAR.
def	disable_positional_tracking (self)
	Disables positional tracking.
POSITIONAL_TRACKING_STATE	get_position (self, Pose, py_pose, reference_frame=REFERENCE_FRAME.WORLD)
	Returns the current position of the LiDAR.
ERROR_CODE	enable_recording (self, RecordingLidarParameters, params)
	Enables recording of LiDAR data.
def	disable_recording (self)
	Disables recording.
int	get_svo_position (self)
	Returns the current SVO playback position.
ERROR_CODE	set_svo_position (self, int position)
	Sets the SVO playback position.
int	get_svo_number_of_frames (self)
	Returns the total number of frames in the SVO.
int	get_svo_position_at_timestamp (self, Timestamp, timestamp)
	Returns the SVO position at a specific timestamp.
def	set_timestamp_base_offset (self, int offset_ns)
	Sets the timestamp base offset.
int	get_timestamp_base_offset (self)
	Returns the timestamp base offset.
def	pause_svo_reading (self, bool pause)
	Pauses or resumes SVO reading.
def	close (self)
	Closes the LiDAR and releases resources.

Static Functions
list[LidarDeviceProperties]	get_device_list ()
	Returns a list of available LiDAR devices.
list[LidarDeviceProperties]	get_streaming_device_list ()
	Returns a list of streaming LiDAR devices.

Detailed Description

Class for managing a LiDAR device.

Python class for managing a LiDAR device.

Functions

retrieve_measure()

ERROR_CODE retrieve_measure	(		self,
			Mat,
			py_mat,
			measure = LIDAR_MEASURE.XYZ,
			resolution = None,
			mem_type = MEM.CPU,
			color_map = VIEW_COLOR_MAP.AUTO
	)

Retrieves a measure from the LiDAR.

Parameters

py_mat	The Mat to store the measure.
measure	The type of measure to retrieve.
resolution	The desired resolution.
mem_type	The memory type (CPU/GPU).
color_map	The colormap for visualization.

retrieve_view()

ERROR_CODE retrieve_view	(		self,
			Mat,
			py_mat,
			view = LIDAR_VIEW.DEPTH,
			resolution = None,
			color_map = VIEW_COLOR_MAP.AUTO
	)

Retrieves a view image from the LiDAR.

Parameters

py_mat	The Mat to store the view.
view	The type of view to retrieve.
resolution	The desired resolution.
color_map	The colormap for visualization.