conscience_core::lidar::FrameMetadata Struct Reference

#include <Csc3dCartographyProcessor.h>

Public Member Functions
string	toJsonString () const

Public Attributes
uint64_t	frameId = 0
double	timestamp = 0.0
optional< OdometryDeltaSidecar >	odometryDelta = nullopt
LidarExtrinsicsSidecar	lidarExtrinsics

Detailed Description

Per-frame metadata loaded from the JSON sidecar associated with each PCD file.

The metadata is used to preserve acquisition order, timestamps, and optionally provide an odometry delta that can be used as an initial motion guess for GICP.

Unit convention:

• Positions and translation deltas are expressed in centimeters.
• Rotation deltas are expressed in radians.
• Coordinate frame is expected to be the Conscience frame: x forward, y up, z right.

Odometry convention:

• If hasOdometryDelta is false, the processor falls back to the previous pose or to the current GICP behavior.
• If hasOdometryDelta is true, the delta should represent the motion from the previous saved frame to the current saved frame.

Member Function Documentation

toJsonString()

string conscience_core::lidar::FrameMetadata::toJsonString

(

)

const

Member Data Documentation

frameId

uint64_t conscience_core::lidar::FrameMetadata::frameId = 0

Stable frame identifier.

Usually read from the JSON sidecar when present. Otherwise inferred from the PCD filename.

lidarExtrinsics

LidarExtrinsicsSidecar conscience_core::lidar::FrameMetadata::lidarExtrinsics

odometryDelta

optional<OdometryDeltaSidecar> conscience_core::lidar::FrameMetadata::odometryDelta = nullopt

timestamp

double conscience_core::lidar::FrameMetadata::timestamp = 0.0

Frame acquisition timestamp.

Usually corresponds to the beginning of the LiDAR scan. The exact time base is defined by the remote recorder.

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

• Lidar/Csc3dCartographyProcessor.h
• Lidar/Csc3dCartographyProcessor.cpp