Lidar¶

Lidar Data¶

class py123d.datatypes.Lidar[source]¶

Data structure for Lidar point cloud data and associated metadata.

Public Data Attributes:

`lidar_metadatas`	Returns the dictionary of per-lidar metadata contained in this Lidar's metadata.
`is_merged`	Returns True if this Lidar contains merged data from multiple lidars, False if it contains data from a single lidar.
`metadata`	The `LidarMetadata` associated with this Lidar recording.
`timestamp`	The timestamp associated with this Lidar recording.
`timestamp_end`	The end timestamp associated with this Lidar recording.
`point_cloud_3d`	Lidar point cloud as an Nx3 numpy array, where N is the number of points, and the (x, y, z), indexed by `Point3DIndex`
`point_cloud_features`	The point cloud features as a dictionary of numpy arrays.
`xyz`	The point cloud as an Nx3 array of x, y, z coordinates.
`xy`	The point cloud as an Nx2 array of x, y coordinates.
`ids`	The point cloud as an Nx1 array of point IDs, if available.
`intensity`	The point cloud as an Nx1 array of intensity values, if available.
`channel`	The point cloud as an Nx1 array of channel/ring values, if available.
`timestamps`	The point cloud as an Nx1 array of timestamps in microseconds, if available.
`range`	The point cloud as an Nx1 array of range values, if available.
`elongation`	The point cloud as an Nx1 array of elongation values, if available.

Inherited from BaseModality

`timestamp`	Returns the timestamp associated with this modality data, if available.
`metadata`	Returns the metadata associated with this modality data.
`modality_type`	Convenience property to access the modality type directly from the modality data.
`modality_id`	Convenience property to access the modality id directly from the modality data.
`modality_key`	Convenience property to access the modality key directly from the modality data.

property lidar_metadatas: Dict[LidarID, LidarMetadata]¶

Returns the dictionary of per-lidar metadata contained in this Lidar’s metadata.

If the metadata is a LidarMergedMetadata, returns its internal dictionary. If the metadata is a single LidarMetadata, returns a dictionary with one entry.

property is_merged: bool¶: Returns True if this Lidar contains merged data from multiple lidars, False if it contains data from a single lidar.

property metadata: LidarMetadata | LidarMergedMetadata¶: The LidarMetadata associated with this Lidar recording.

property modality_id: str | SerialIntEnum | None¶: Convenience property to access the modality id directly from the modality data.

property modality_key: str¶: Convenience property to access the modality key directly from the modality data.

property modality_type: ModalityType¶: Convenience property to access the modality type directly from the modality data.

property timestamp: Timestamp¶: The timestamp associated with this Lidar recording.

property timestamp_end: Timestamp¶: The end timestamp associated with this Lidar recording.

property point_cloud_3d: ndarray[tuple[Any, ...], dtype[float32]]¶: Lidar point cloud as an Nx3 numpy array, where N is the number of points, and the (x, y, z), indexed by Point3DIndex

property point_cloud_features: Dict[str, ndarray[tuple[Any, ...], dtype[_ScalarT]]] | None¶: The point cloud features as a dictionary of numpy arrays.

property xyz: ndarray[tuple[Any, ...], dtype[float32]]¶: The point cloud as an Nx3 array of x, y, z coordinates.

property xy: ndarray[tuple[Any, ...], dtype[float32]]¶: The point cloud as an Nx2 array of x, y coordinates.

property ids: ndarray[tuple[Any, ...], dtype[uint8]] | None¶: The point cloud as an Nx1 array of point IDs, if available.

property intensity: ndarray[tuple[Any, ...], dtype[uint8]] | None¶: The point cloud as an Nx1 array of intensity values, if available.

property channel: ndarray[tuple[Any, ...], dtype[uint8]] | None¶: The point cloud as an Nx1 array of channel/ring values, if available.

property timestamps: ndarray[tuple[Any, ...], dtype[int64]] | None¶: The point cloud as an Nx1 array of timestamps in microseconds, if available.

property range: ndarray[tuple[Any, ...], dtype[float32]] | None¶: The point cloud as an Nx1 array of range values, if available.

property elongation: ndarray[tuple[Any, ...], dtype[float32]] | None¶: The point cloud as an Nx1 array of elongation values, if available.

Lidar Metadata¶

class py123d.datatypes.LidarMetadata[source]¶

Metadata for Lidar sensor, static for a given sensor.

Public Data Attributes:

`lidar_name`	The name of the Lidar sensor from the dataset.
`lidar_id`	The ID of the Lidar sensor.
`lidar_to_imu_se3`	The extrinsic `PoseSE3` of the Lidar sensor, relative to the IMU frame.
`modality_type`	Returns the type of the modality that this metadata describes.
`modality_id`	Optional identifier for the modality, e.g. sensor ID for sensor modalities.

Inherited from BaseModalityMetadata

`modality_type`	Returns the type of the modality that this metadata describes.
`modality_id`	Optional identifier for the modality, e.g. sensor ID for sensor modalities.
`modality_key`	Returns a unique key for this modality, combining type and id if applicable.

Public Methods:

`from_dict`(data_dict)	Construct the Lidar metadata from a dictionary.
`to_dict`()	Convert the Lidar metadata to a dictionary.

Inherited from BaseMetadata

`to_dict`()	Serialize the metadata instance to a plain Python dictionary.
`from_dict`(data_dict)	Construct a metadata instance from a plain Python dictionary.

property lidar_name: str¶: The name of the Lidar sensor from the dataset.

property lidar_id: LidarID¶: The ID of the Lidar sensor.

property lidar_to_imu_se3: PoseSE3¶: The extrinsic PoseSE3 of the Lidar sensor, relative to the IMU frame.

property modality_type: ModalityType¶: Returns the type of the modality that this metadata describes.

property modality_id: str | SerialIntEnum | None¶: Optional identifier for the modality, e.g. sensor ID for sensor modalities. Can be a string or a SerialIntEnum.

classmethod from_dict(data_dict)[source]¶

Construct the Lidar metadata from a dictionary.

Parameters:: data_dict (dict) – A dictionary containing Lidar metadata.
Raises:: ValueError – If the dictionary is missing required fields or contains invalid data.
Return type:: LidarMetadata
Returns:: An instance of LidarMetadata.

to_dict()[source]¶

Convert the Lidar metadata to a dictionary.

Return type:: Dict[str, Any]
Returns:: A dictionary representation of the Lidar metadata.

property modality_key: str¶: Returns a unique key for this modality, combining type and id if applicable.

Lidar IDs¶

class py123d.datatypes.LidarID[source]¶

Enumeration of Lidar sensors, in multi-sensor setups.

LIDAR_UNKNOWN = 0¶: Unknown Lidar type.

LIDAR_MERGED = 1¶: Merged sensor Lidar type

LIDAR_TOP = 2¶: Top-facing Lidar type.

LIDAR_FRONT = 3¶: Front-facing Lidar type.

LIDAR_SIDE_LEFT = 4¶: Left-side Lidar type.

LIDAR_SIDE_RIGHT = 5¶: Right-side Lidar type.

LIDAR_BACK = 6¶: Back-facing Lidar type.

LIDAR_DOWN = 7¶: Down-facing Lidar type.