Struct LidarSensorView::Reflection

Nested Relationships

This struct is a nested type of Struct LidarSensorView.

Struct Documentation

struct Reflection

Definition of the lidar reflection.

Public Members

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]

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]

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

Doppler shift.

Shift in frequency based on the specified TX frequency.

Unit: [Hz]

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.

Unit: [unit vector]

Note

data is in Lidar coordinate system

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.