conscience_core::lidar::CscRealEntity3dLidarValues Class Reference

#include <CscRealEntity3dLidarValues.h>

Classes
struct	QueuedRangeImage

Public Member Functions
	CscRealEntity3dLidarValues (const vector< float > &verticalAnglesRad)
const vector< float > &	getVerticalAnglesRad () const
void	clear ()
void	integrateFrame (uint16_t rows, uint16_t cols, uint32_t frameId, bool isKeyFrame, const uint8_t *data, size_t count, const LidarImuData &imu, LidarExtrinsics lidarExtrinsics)
	Integrates a LiDAR frame (keyframe or diff) into the current range image. More...
map< double, double >	get2DSliceAtHeight (double targetY=15, double tolerance=20) const
bool	getLatest (QueuedRangeImage &out)

Static Public Member Functions
static vector< float >	loadVerticalAnglesRadFromCsvFile (const string &filePath, const string &elevationHeaderName="elevation")
	Load vertical beam angles (in radians) from a CSV calibration file. More...

Constructor & Destructor Documentation

CscRealEntity3dLidarValues()

conscience_core::lidar::CscRealEntity3dLidarValues::CscRealEntity3dLidarValues ( const vector< float > &  verticalAnglesRad )

explicit

Member Function Documentation

clear()

void conscience_core::lidar::CscRealEntity3dLidarValues::clear

(

)

get2DSliceAtHeight()

map< double, double > conscience_core::lidar::CscRealEntity3dLidarValues::get2DSliceAtHeight	(	double	targetY = 15,
		double	tolerance = 20
	)		const

getLatest()

bool conscience_core::lidar::CscRealEntity3dLidarValues::getLatest

(

QueuedRangeImage &

out

)

getVerticalAnglesRad()

const vector< float > & conscience_core::lidar::CscRealEntity3dLidarValues::getVerticalAnglesRad

(

)

const

integrateFrame()

void conscience_core::lidar::CscRealEntity3dLidarValues::integrateFrame	(	uint16_t	rows,
		uint16_t	cols,
		uint32_t	frameId,
		bool	isKeyFrame,
		const uint8_t *	data,
		size_t	count,
		const LidarImuData &	imu,
		LidarExtrinsics	lidarExtrinsics
	)

Integrates a LiDAR frame (keyframe or diff) into the current range image.

Parameters

rows	Number of vertical rings (e.g. 128)
cols	Number of horizontal bins (e.g. 1800)
frameId	Frame identifier
isKeyFrame	True = full frame, False = sparse diff update
data	Pointer to encoded binary payload
count	Number of encoded pixels
imu	Associated IMU data

Payload format (per item): Keyframe: [3B rc][2B range] Diff: [3B rc][2B range][2B dr]

rc packing (24 bits, little-endian): row = bits [0..6], col = bits [7..17]

range_q4mm: uint16 → meters = value * 0.004

Behavior:

• keyframe → reset + rebuild
• diff → update only provided pixels

loadVerticalAnglesRadFromCsvFile()

vector< float > conscience_core::lidar::CscRealEntity3dLidarValues::loadVerticalAnglesRadFromCsvFile ( const string &  filePath, const string &  elevationHeaderName = "elevation"  )

static

Load vertical beam angles (in radians) from a CSV calibration file.

This function parses a CSV file containing LiDAR calibration data and extracts the elevation (vertical) angle for each channel (ring). The column containing the elevation values is identified dynamically using the provided header name.

Expected CSV format:

• First line: header row (e.g. "Channel,Elevation,Azimuth")
• Subsequent lines: one entry per laser channel

Behavior:

• Finds the column index matching elevationHeaderName (case-insensitive)
• Reads each row and extracts the elevation value (in degrees)
• Converts each value to radians
• Preserves the order of rows (must match ring indices from the sensor)

Parameters

filePath	Path to the CSV calibration file
elevationHeaderName	Name (case insensitive) of the column containing elevation values (default: "elevation")

Returns

std::vector<float> Vector of elevation angles in radians, indexed by ring

Exceptions

std::runtime_error

if the file cannot be read or the column is not found

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The documentation for this class was generated from the following files:

• Lidar/CscRealEntity3dLidarValues.h
• Lidar/CscRealEntity3dLidarValues.cpp