Template Class XYZLutT

Class Documentation

template<typename T>
class XYZLutT

Lookup table of beam directions and offsets.

Public Functions

inline XYZLutT(const SensorInfo &sensor, bool use_extrinsics)

Construct an XYZ lookup table using the provided sensor information.

Parameters:

  • sensor[in] – Sensor metadata including intrinsics and resolution.

  • use_extrinsics[in] – Whether to apply extrinsic calibration.

XYZLutT() = default
inline PointCloudXYZ<T> operator()(const Eigen::Ref<const img_t<uint32_t>> &range) const
inline PointCloudXYZ<T> operator()(const LidarScan &scan) const

Public Members

ArrayX3R<T> direction

Unit direction vectors from the sensor for each pixel.

ArrayX3R<T> offset

Offset vectors for each pixel, typically representing per-pixel translations.

Combined with direction and range to compute 3D coordinates.

Friends

friend class XYZLutT