#include <ouster_lidar.hpp>
Inheritance diagram for se::OusterLidarConfig:
Public Member Functions | |
| void | readYaml (const std::string &filename) |
| Reads the struct members from the "sensor" node of a YAML file. More... | |
 Public Member Functions inherited from se::SensorBaseConfig | |
| void | readYaml (const std::string &filename) |
| Reads the struct members from the "sensor" node of a YAML file. More... | |
Public Attributes | |
| Eigen::VectorXf | beam_elevation_angles = Eigen::VectorXf(1) |
| The elevation offset for each Lidar beam in degrees. More... | |
| Eigen::VectorXf | beam_azimuth_angles = Eigen::VectorXf(1) |
| The azimuth offset for each Lidar beam in degrees. More... | |
| Public Attributes inherited from se::SensorBaseConfig | |
| int | width = 0 |
| The width of images produced by the sensor in pixels. More... | |
| int | height = 0 |
| The height of images produced by the sensor in pixels. More... | |
| float | near_plane = 0.0f |
| The sensor's near plane in metres. More... | |
| float | far_plane = std::numeric_limits<float>::infinity() |
| The sensor's far plane in metres. More... | |
| Eigen::Matrix4f | T_BS = Eigen::Matrix4f::Identity() |
| The transformation from the sensor frame S to the body frame B. More... | |
Member Function Documentation
◆ readYaml()
| void se::OusterLidarConfig::readYaml | ( | const std::string & | filename | ) |
Reads the struct members from the "sensor" node of a YAML file.
Members not present in the YAML file aren't modified.
- Exceptions
-
std::invalid_argument Throws std::invalid_argument if the number of beam elevation or azimuth angles is different than the sensor height.
Member Data Documentation
◆ beam_elevation_angles
| Eigen::VectorXf se::OusterLidarConfig::beam_elevation_angles = Eigen::VectorXf(1) |
The elevation offset for each Lidar beam in degrees.
The number of offsets should be the same as se::SensorBaseConfig::height.
◆ beam_azimuth_angles
| Eigen::VectorXf se::OusterLidarConfig::beam_azimuth_angles = Eigen::VectorXf(1) |
The azimuth offset for each Lidar beam in degrees.
The number of offsets should be the same as se::SensorBaseConfig::height.
The documentation for this struct was generated from the following file:
- include/se/sensor/ouster_lidar.hpp
