Description

Lidar class.

This corresponds to a scanning lidar.

With OptiX enabled this routes through the OptiX backend. With Vulkan RT enabled and OptiX disabled it keeps the same public API and routes through the Vulkan RT backend, including depth/intensity and point-cloud filters.

#include <ChLidarSensor.h>

Inheritance diagram for chrono::sensor::ChLidarSensor:

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Collaboration diagram for chrono::sensor::ChLidarSensor:

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Public Member Functions
	ChLidarSensor (std::shared_ptr< ChBody > parent, float updateRate, ChFrame< double > offsetPose, unsigned int w, unsigned int h, float hfov, float max_vertical_angle, float min_vertical_angle, float max_distance, LidarBeamShape beam_shape=LidarBeamShape::RECTANGULAR, unsigned int sample_radius=1, float vert_divergence_angle=.003f, float hori_divergence_angle=.003f, LidarReturnMode return_mode=LidarReturnMode::MEAN_RETURN, float clip_near=1e-3f)
	Constructor for the base lidar class, defaulting to using a single ray per beam. More...

float	GetHFOV () const
	Gives the horizontal field of view of the lidar (angle between right-most and left-most ray for a "frame"). More...

float	GetMaxVertAngle () const
	Returns the highest vertical angle of any ray in the lidar. More...

float	GetMinVertAngle () const
	Returns the lowest vertical angle of any ray in the lidar. More...

float	GetMaxDistance () const
	Returns the maximum range of the lidar. More...

float	GetClipNear () const
	Returns the near clipping distance. More...

LidarBeamShape	GetBeamShape () const
	Returns the beam cross section shape. More...

unsigned int	GetSampleRadius () const
	Returns the beam sample radius. More...

float	GetHorizDivAngle () const
	Returns the horizontal beam divergence angle. More...

float	GetVertDivAngle () const
	Returns the vertical beam divergence angle. More...

LidarReturnMode	GetReturnMode () const

bool	DualReturnFlag () const

Public Member Functions inherited from chrono::sensor::ChSensor
	ChSensor (std::shared_ptr< ChBody > parent, float updateRate, ChFrame< double > offsetPose)
	Constructor for the base sensor class. More...

void	SetOffsetPose (ChFrame< double > pose)
	Set the sensor's relative position and orientation. More...

ChFrame< double >	GetOffsetPose ()
	Get the sensor's relative position and orientation. More...

std::shared_ptr< ChBody >	GetParent () const
	Get the object to which the sensor is attached. More...

void	SetName (std::string name)
	Set the sensor's name. More...

std::string	GetName () const
	Get the name of the sensor. More...

float	GetUpdateRate () const
	Get the sensor update rate (Hz). More...

void	SetLag (float t)
	Set the lag parameter. More...

float	GetLag () const
	Get the sensor lag (seconds). More...

void	SetCollectionWindow (float t)
	Set the collection window. More...

float	GetCollectionWindow () const
	Get the sensor data collection window (seconds). More...

void	SetUpdateRate (float updateRate)
	Set the sensor update rate (Hz). More...

unsigned int	GetNumLaunches ()
	Get the number of times the sensor has been updated. More...

void	IncrementNumLaunches ()
	Increments the count of number of updates.

std::list< std::shared_ptr< ChFilter > >	GetFilterList () const
	Get the sensor's list of filters. More...

void	PushFilter (std::shared_ptr< ChFilter > filter)
	Add a filter to the sensor. More...

void	PushFilterFront (std::shared_ptr< ChFilter > filter)
	Add a filter to the front of the list on a sensor. More...

void	LockFilterList ()
	Gives ability to lock the filter list to prevent race conditions. More...

unsigned int	GetRngSensorOrdinal () const
	This sensor's registration ordinal within its manager, used to give it RNG streams distinct from every other sensor's. More...

unsigned int	GetRngManagerId () const
	The id of the manager this sensor is registered with. More...

template<class UserBufferType >
UserBufferType	GetMostRecentBuffer ()
	Get the last filter in the list that matches the template type. More...

template<>
CH_SENSOR_API UserAccelBufferPtr	GetMostRecentBuffer ()

Additional Inherited Members
Protected Attributes inherited from chrono::sensor::ChSensor
float	m_updateRate
	sensor update rate

float	m_lag
	sensor lag from the time all scene information is available (sensor processing time)

float	m_collection_window
	time over which data is collected. More...

float	m_timeLastUpdated
	time since previous update

std::shared_ptr< ChBody >	m_parent
	object to which the sensor is attached

ChFrame< double >	m_offsetPose
	position and orientation of the sensor relative to its parent

std::string	m_name
	name of the sensor

unsigned int	m_num_launches
	number of times the sensor has been updated

std::list< std::shared_ptr< ChFilter > >	m_filters
	filter list for post-processing sensor data

bool	m_filter_list_locked = false
	gives ability to lock the filter list to prevent race conditions

Constructor & Destructor Documentation

◆ ChLidarSensor()

chrono::sensor::ChLidarSensor::ChLidarSensor	(	std::shared_ptr< ChBody >	parent,
		float	updateRate,
		ChFrame< double >	offsetPose,
		unsigned int	w,
		unsigned int	h,
		float	hfov,
		float	max_vertical_angle,
		float	min_vertical_angle,
		float	max_distance,
		LidarBeamShape	beam_shape = `LidarBeamShape::RECTANGULAR`,
		unsigned int	sample_radius = `1`,
		float	vert_divergence_angle = `.003f`,
		float	hori_divergence_angle = `.003f`,
		LidarReturnMode	return_mode = `LidarReturnMode::MEAN_RETURN`,
		float	clip_near = `1e-3f`
	)

Constructor for the base lidar class, defaulting to using a single ray per beam.

Parameters

parent	Body to which the sensor is attached.
updateRate	Rate at which the sensor should update.
offsetPose	Relative position and orientation of the sensor with respect to its parent object.
w	Width in number of samples of a lidar scan
h	Height in number of sample of a lidar scan (typical the same as laser channels)
hfov	Horizontal field of view of the lidar
max_vertical_angle	Maximum vertical angle of the lidar
min_vertical_angle	Minimum vertical angle of the lidar
max_distance	the maximum measurable distance for the lidar
beam_shape	Shape of lidar beam, only rectangles and ellipse are supported currently.
sample_radius	The radius in samples for multisampling beams (total samples per beam is 2*radius-1)
vert_divergence_angle	The vertical divergence angle of the lidar's laser beam
hori_divergence_angle	The horizontal divergence angle of the lidar's laser beam
return_mode	The return mode for lidar data when multiple objects are visible
clip_near	Near clipping distance so that lidar sensor can be easily placed inside a visualization object (sensor housing)

Member Function Documentation

◆ GetBeamShape()

LidarBeamShape chrono::sensor::ChLidarSensor::GetBeamShape ( ) const

inline

Returns the beam cross section shape.

Returns: the beam cross section shape

◆ GetClipNear()

float chrono::sensor::ChLidarSensor::GetClipNear ( ) const

inline

Returns the near clipping distance.

Returns: the near clipping distance

◆ GetHFOV()

float chrono::sensor::ChLidarSensor::GetHFOV ( ) const

inline

Gives the horizontal field of view of the lidar (angle between right-most and left-most ray for a "frame").

Horizontal field of view should be 360-(angular resolution) in degrees for a full 360 degree scanning lidar.

Returns: The horizontal field of view of the lidar sensor

◆ GetHorizDivAngle()

float chrono::sensor::ChLidarSensor::GetHorizDivAngle ( ) const

inline

Returns the horizontal beam divergence angle.

Returns: the horizontal beam divergence angle

◆ GetMaxDistance()

float chrono::sensor::ChLidarSensor::GetMaxDistance ( ) const

inline

Returns the maximum range of the lidar.

Returns: The maximum distance for the lidar

◆ GetMaxVertAngle()

float chrono::sensor::ChLidarSensor::GetMaxVertAngle ( ) const

inline

Returns the highest vertical angle of any ray in the lidar.

Returns: The angle of the highest ray

◆ GetMinVertAngle()

float chrono::sensor::ChLidarSensor::GetMinVertAngle ( ) const

inline

Returns the lowest vertical angle of any ray in the lidar.

Returns: The angle of the lowest ray

◆ GetSampleRadius()

unsigned int chrono::sensor::ChLidarSensor::GetSampleRadius ( ) const

inline

Returns the beam sample radius.

Returns: the beam sample radius

◆ GetVertDivAngle()

float chrono::sensor::ChLidarSensor::GetVertDivAngle ( ) const

inline

Returns the vertical beam divergence angle.

Returns: the vertical beam divergence angle

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

/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChLidarSensor.h
/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChLidarSensor.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChLidarSensor()

Member Function Documentation

◆ GetBeamShape()

◆ GetClipNear()

◆ GetHFOV()

◆ GetHorizDivAngle()

◆ GetMaxDistance()

◆ GetMaxVertAngle()

◆ GetMinVertAngle()

◆ GetSampleRadius()

◆ GetVertDivAngle()