PvaLidarHistogramParamsRec

Defined in public/src/operator/include/OpLidarHistogramConversion.h

struct PvaLidarHistogramParamsRec

LiDAR histogram parameters.

Parameters that define the time and intensity scales of the histogram data.

• offsetNs: The global offset in nanoseconds that defines the start of bin index 0.

• binSizeNs: The time interval in nanoseconds spanned by one bin index.

• rangeScale: Range output is in meters when scale is 1.0. Set to 100.0 to output in centimeters, etc.

• maxIntensity: The maximum intensity value for computing reflectance.

A histogram bin value at an index k represents the number of photons captured over a time interval of binSizeNs beginning at offsetNs + k * binSizeNs. The sum of 3 bins centered at a peak is the measured intensity of the peak. The reflectance output is computed as the ratio of the measured intensity to the maxIntensity.

Public Members

float offsetNs

The global offset in nanoseconds that defines the start of bin index 0.

float binSizeNs

The time interval in nanoseconds spanned by one bin index.

float rangeScale

The scale factor to convert range output where 1.0 is meters.

float maxIntensity

The maximum intensity value for computing reflectance.