LidarSensorConfiguration Struct Reference

Structure containing runtime configuration of the Lidar sensor. More...

Attributes
int	vertical_resolution = 0
	Vertical resolution (number of channels/beams). More...
int	horizontal_resolution = 0
	Horizontal resolution (number of columns per frame). More...
float	fps = 0.0f
	Frame rate in Hz. More...
float	vertical_fov = 0.0f
	Vertical field of view in degrees. More...
float	horizontal_fov = 360.0f
	Horizontal field of view in degrees. More...
LidarCalibration	calibration
	Beam geometry calibration for raw data processing. More...
sl::Transform	imu_to_lidar_transform
	Transform from IMU frame to Lidar frame. More...

Detailed Description

Structure containing runtime configuration of the Lidar sensor.

This includes resolution, frame rate, field of view, and calibration data. Available after the Lidar is opened via LidarInformation.

Note

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

Variables

vertical_resolution

int vertical_resolution = 0

Vertical resolution (number of channels/beams).

Note

Depends on the hardware model (e.g., 32, 64, 128).

horizontal_resolution

int horizontal_resolution = 0

Horizontal resolution (number of columns per frame).

Note

Depends on the configured mode (e.g., 512, 1024, 2048).

fps

float fps = 0.0f

Frame rate in Hz.

Note

Depends on the configured mode (e.g., 10, 20).

vertical_fov

float vertical_fov = 0.0f

Vertical field of view in degrees.

Note

Computed from beam_altitude_angles range.

horizontal_fov

float horizontal_fov = 360.0f

Horizontal field of view in degrees.

Note

Typically 360 for spinning lidars.

calibration

LidarCalibration calibration

Beam geometry calibration for raw data processing.

imu_to_lidar_transform

sl::Transform imu_to_lidar_transform

Transform from IMU frame to Lidar frame.

Note

Used for sensor fusion and motion compensation.