Definition of the lidar reflection. More...

Collaboration diagram for osi3::LidarSensorView::Reflection:

[legend]

Public Attributes
optional double	signal_strength = 1

optional double	time_of_flight = 2

optional double	doppler_shift = 3

optional Vector3d	normal_to_surface = 5

optional Identifier	object_id = 6

Detailed Description

Definition of the lidar reflection.

Member Data Documentation

◆ doppler_shift

optional double osi3::LidarSensorView::Reflection::doppler_shift = 3

Doppler shift.

Shift in frequency based on the specified TX frequency.

Unit: Hz

◆ normal_to_surface

optional Vector3d osi3::LidarSensorView::Reflection::normal_to_surface = 5

normal to surface angle.

The normal of the transmitted beam to the object, roadmarking etc encounter.

Note: data is in Lidar coordinate system

Unit: unit vector

◆ object_id

optional Identifier osi3::LidarSensorView::Reflection::object_id = 6

ID of the detected object this reflection is associated to. can be used for raytracing debug

Note: ID = MAX(uint64) indicates no reference to an object.

◆ signal_strength

optional double osi3::LidarSensorView::Reflection::signal_strength = 1

Relative signal level of the reflection.

This takes the signal losses due to scattering and absorption into account, and will, when multiplied by TX power yield the potential RX power (disregarding any other RX/TX losses).

Unit: dB

◆ time_of_flight

optional double osi3::LidarSensorView::Reflection::time_of_flight = 2

Time of flight.

This is the time of flight of the reflection, which is directly proportional to the distance traveled.

Unit: s

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

osi_sensorview.proto