LidarCalibration Struct Reference

Structure containing beam geometry calibration data for raw data processing. More...

Attributes
std::vector< double >	beam_altitude_angles
	Vertical angle of each beam in degrees. More...
std::vector< double >	beam_azimuth_angles
	Horizontal angle offset of each beam in degrees. More...
std::vector< int >	pixel_shift_by_row
	Per-row pixel shift for destaggering raw data. More...
double	lidar_origin_to_beam_origin_mm = 0.0
	Distance from lidar origin to beam origin in millimeters. More...
sl::Matrix4f	beam_to_lidar_transform
	4x4 transform from beam frame to lidar frame. More...

Detailed Description

Structure containing beam geometry calibration data for raw data processing.

This calibration data is required for:

• Destaggering raw sensor data (using pixel_shift_by_row)
• Custom XYZ projection from range data (using beam angles)
• Advanced point cloud processing pipelines

Note

This structure is meant to be used as a read-only container.

Variables

beam_altitude_angles

std::vector<double> beam_altitude_angles

Vertical angle of each beam in degrees.

Note

Size equals vertical_resolution (number of channels).

Used with beam_azimuth_angles to compute XYZ from range.

beam_azimuth_angles

std::vector<double> beam_azimuth_angles

Horizontal angle offset of each beam in degrees.

Note

Size equals vertical_resolution (number of channels).

Accounts for beam stagger pattern in the azimuth direction.

pixel_shift_by_row

std::vector<int> pixel_shift_by_row

Per-row pixel shift for destaggering raw data.

Note

Size equals vertical_resolution (number of channels).

Apply this shift to align columns in staggered raw data.

lidar_origin_to_beam_origin_mm

double lidar_origin_to_beam_origin_mm = 0.0

Distance from lidar origin to beam origin in millimeters.

Note

Used for accurate near-field range correction.

beam_to_lidar_transform

sl::Matrix4f beam_to_lidar_transform

4x4 transform from beam frame to lidar frame.

Note

Row-major order.