CarbonConfig Class Reference

Configuration for the Carbon LiDAR pipeline. More...

#include <carbon_config.hpp>

Public Member Functions
	CarbonConfig ()
	~CarbonConfig ()
	CarbonConfig (const CarbonConfig &)=delete
CarbonConfig &	operator= (const CarbonConfig &)=delete
	CarbonConfig (CarbonConfig &&)=delete
CarbonConfig &	operator= (CarbonConfig &&)=delete
CarbonConfig &	setBindAddr (const std::string &v)
CarbonConfig &	setGroupAddr (const std::string &v)
CarbonConfig &	setInterfaceAddr (const std::string &v)
CarbonConfig &	setObserverOnly (bool v)
CarbonConfig &	setStreamTransport (StreamTransport v)
CarbonConfig &	setUseMsgTimestamp (bool v)
CarbonConfig &	setBatchSize (size_t v)
CarbonConfig &	setRecvBufferSize (size_t v)
CarbonConfig &	setReceiverChannelCapacity (size_t v)
CarbonConfig &	setVelCorrFactor (float v)
CarbonConfig &	setBandwidthHz (float v)
CarbonConfig &	setElevationFovDeg (float v)
CarbonConfig &	setPeakCombineTwinOnly (bool v)
	Use legacy literal-twin-only pairing. Default: false.
CarbonConfig &	setPeakCombineClusterMinSize (size_t v)
	Minimum inlier/survivor count. Default: 1.
CarbonConfig &	setPeakCombineBeatThreshHz (float v)
	Static beat-frequency threshold (Hz); pass 0 for dynamic.
CarbonConfig &	setPeakCombineBeatOutlierRemoval (bool v)
	Enable beat outlier removal. Default: true.
CarbonConfig &	setPeakCombineSnrPreThresholdEnabled (bool v)
	Enable stage-0 per-peak SNR gate. Default: true.
CarbonConfig &	setPeakCombineSnrPreThresholdMaxDb (float v)
	SNR threshold (dB) at DC. Default: 13.0.
CarbonConfig &	setPeakCombineSnrPreThresholdMinDb (float v)
	SNR threshold floor (dB). Default: 10.0.
CarbonConfig &	setPeakCombineSnrPreThresholdSlopeDbPerHz (float v)
	SNR slope (dB/Hz). Default: 6.0e-7.
CarbonConfig &	setRdOutlierRangeThreshMinM (float v)
	Range tolerance (m) at origin. Default: 0.1.
CarbonConfig &	setRdOutlierRangeThreshMaxM (float v)
	Range tolerance (m) at ref_range. Default: 0.4.
CarbonConfig &	setRdOutlierDopplerThreshMinMps (float v)
	Doppler tolerance (m/s) at origin. Default: 0.08.
CarbonConfig &	setRdOutlierDopplerThreshMaxMps (float v)
	Doppler tolerance (m/s) at ref_range. Default: 0.2.
CarbonConfig &	setRdOutlierRefRangeM (float v)
	Reference range (m). Default: 150.
CarbonConfig &	setKeepInvalidPoints (bool v)
CarbonConfig &	setRangeMin (float v)
CarbonConfig &	setRangeMax (float v)
CarbonConfig &	setDopplerMin (float v)
CarbonConfig &	setDopplerMax (float v)
CarbonConfig &	setAzimuthDegMin (float v)
CarbonConfig &	setAzimuthDegMax (float v)
CarbonConfig &	setElevationDegMin (float v)
CarbonConfig &	setElevationDegMax (float v)
CarbonConfig &	setSpatialFilterEnabled (bool v)
	Enable the point-stage spatial outlier filter. Default: true.
CarbonConfig &	setSpatialMinValidNeighbors (uint8_t v)
CarbonConfig &	setSpatialPointClusterSize (uint8_t v)
CarbonConfig &	setSpatialSupportThreshold (float v)
CarbonConfig &	setInterpRangeThreshold (float v)
CarbonConfig &	setInterpDopplerThreshold (float v)
CarbonConfig &	setMissingElevations (const std::vector< uint8_t > &elevations)
CarbonConfig &	setEvalMode (bool v)
CarbonConfig &	setReportDir (const std::string &v)
CarbonConfig &	setFpgaTargetAddr (const std::string &v)
CarbonConfig &	setSdlTimeoutSec (float v)
CarbonConfig &	setSdlMaxRetries (uint8_t v)

Static Public Member Functions
static std::unique_ptr< CarbonConfig >	fromJson (const std::string &path)

Private Member Functions
	CarbonConfig (CarbonConfigC *raw)

Private Attributes
CarbonConfigC *	cfg_

Friends
class	CarbonClient

Detailed Description

Configuration for the Carbon LiDAR pipeline.

Construct with default values, then use setters to override what you need. Pass to CarbonClient constructor — the client clones it internally.

Setters return *this for optional chaining:

CarbonConfig config;
config.setBindAddr("0.0.0.0:5678")
      .setGroupAddr("239.255.48.84")
      .setInterfaceAddr("192.168.1.100")
      .setRangeMax(50.0f);

Constructor & Destructor Documentation

CarbonConfig() [1/4]

CarbonConfig::CarbonConfig

(

)

~CarbonConfig()

CarbonConfig::~CarbonConfig

(

)

CarbonConfig() [2/4]

CarbonConfig::CarbonConfig ( const CarbonConfig & )

delete

CarbonConfig() [3/4]

CarbonConfig::CarbonConfig ( CarbonConfig && )

delete

CarbonConfig() [4/4]

CarbonConfig::CarbonConfig ( CarbonConfigC * raw )

explicitprivate

Member Function Documentation

fromJson()

std::unique_ptr< CarbonConfig > CarbonConfig::fromJson ( const std::string & path )

static

Load a CarbonConfig from a JSON file. Missing fields default to their standard values. Returns nullptr on failure (file not found, parse error, or validation failure).

auto config = CarbonConfig::fromJson("config.json");
if (!config) { // handle error }
CarbonClient client(*config);

operator=() [1/2]

CarbonConfig & CarbonConfig::operator= ( CarbonConfig && )

delete

operator=() [2/2]

CarbonConfig & CarbonConfig::operator= ( const CarbonConfig & )

delete

setAzimuthDegMax()

CarbonConfig & CarbonConfig::setAzimuthDegMax

(

float

v

)

setAzimuthDegMin()

CarbonConfig & CarbonConfig::setAzimuthDegMin

(

float

v

)

setBandwidthHz()

CarbonConfig & CarbonConfig::setBandwidthHz

(

float

v

)

setBatchSize()

CarbonConfig & CarbonConfig::setBatchSize

(

size_t

v

)

setBindAddr()

CarbonConfig & CarbonConfig::setBindAddr

(

const std::string &

v

)

setDopplerMax()

CarbonConfig & CarbonConfig::setDopplerMax

(

float

v

)

setDopplerMin()

CarbonConfig & CarbonConfig::setDopplerMin

(

float

v

)

setElevationDegMax()

CarbonConfig & CarbonConfig::setElevationDegMax

(

float

v

)

setElevationDegMin()

CarbonConfig & CarbonConfig::setElevationDegMin

(

float

v

)

setElevationFovDeg()

CarbonConfig & CarbonConfig::setElevationFovDeg

(

float

v

)

setEvalMode()

CarbonConfig & CarbonConfig::setEvalMode

(

bool

v

)

setFpgaTargetAddr()

CarbonConfig & CarbonConfig::setFpgaTargetAddr

(

const std::string &

v

)

setGroupAddr()

CarbonConfig & CarbonConfig::setGroupAddr

(

const std::string &

v

)

setInterfaceAddr()

CarbonConfig & CarbonConfig::setInterfaceAddr

(

const std::string &

v

)

setInterpDopplerThreshold()

CarbonConfig & CarbonConfig::setInterpDopplerThreshold

(

float

v

)

setInterpRangeThreshold()

CarbonConfig & CarbonConfig::setInterpRangeThreshold

(

float

v

)

setKeepInvalidPoints()

CarbonConfig & CarbonConfig::setKeepInvalidPoints

(

bool

v

)

setMissingElevations()

CarbonConfig & CarbonConfig::setMissingElevations

(

const std::vector< uint8_t > &

elevations

)

setObserverOnly()

CarbonConfig & CarbonConfig::setObserverOnly

(

bool

v

)

Observer-only mode: passively receive the point stream without sending anything to the FPGA. Disables SDL commands, host<->FPGA time-sync, and comms-health probing so multiple clients can share one sensor — but only with Multicast transport; under the default unicast the sensor streams to a single client. Exactly one primary (non-observer) client should own the FPGA.

setPeakCombineBeatOutlierRemoval()

CarbonConfig & CarbonConfig::setPeakCombineBeatOutlierRemoval

(

bool

v

)

Enable beat outlier removal. Default: true.

setPeakCombineBeatThreshHz()

CarbonConfig & CarbonConfig::setPeakCombineBeatThreshHz

(

float

v

)

Static beat-frequency threshold (Hz); pass 0 for dynamic.

setPeakCombineClusterMinSize()

CarbonConfig & CarbonConfig::setPeakCombineClusterMinSize

(

size_t

v

)

Minimum inlier/survivor count. Default: 1.

setPeakCombineSnrPreThresholdEnabled()

CarbonConfig & CarbonConfig::setPeakCombineSnrPreThresholdEnabled

(

bool

v

)

Enable stage-0 per-peak SNR gate. Default: true.

setPeakCombineSnrPreThresholdMaxDb()

CarbonConfig & CarbonConfig::setPeakCombineSnrPreThresholdMaxDb

(

float

v

)

SNR threshold (dB) at DC. Default: 13.0.

setPeakCombineSnrPreThresholdMinDb()

CarbonConfig & CarbonConfig::setPeakCombineSnrPreThresholdMinDb

(

float

v

)

SNR threshold floor (dB). Default: 10.0.

setPeakCombineSnrPreThresholdSlopeDbPerHz()

CarbonConfig & CarbonConfig::setPeakCombineSnrPreThresholdSlopeDbPerHz

(

float

v

)

SNR slope (dB/Hz). Default: 6.0e-7.

setPeakCombineTwinOnly()

CarbonConfig & CarbonConfig::setPeakCombineTwinOnly

(

bool

v

)

Use legacy literal-twin-only pairing. Default: false.

setRangeMax()

CarbonConfig & CarbonConfig::setRangeMax

(

float

v

)

setRangeMin()

CarbonConfig & CarbonConfig::setRangeMin

(

float

v

)

setRdOutlierDopplerThreshMaxMps()

CarbonConfig & CarbonConfig::setRdOutlierDopplerThreshMaxMps

(

float

v

)

Doppler tolerance (m/s) at ref_range. Default: 0.2.

setRdOutlierDopplerThreshMinMps()

CarbonConfig & CarbonConfig::setRdOutlierDopplerThreshMinMps

(

float

v

)

Doppler tolerance (m/s) at origin. Default: 0.08.

setRdOutlierRangeThreshMaxM()

CarbonConfig & CarbonConfig::setRdOutlierRangeThreshMaxM

(

float

v

)

Range tolerance (m) at ref_range. Default: 0.4.

setRdOutlierRangeThreshMinM()

CarbonConfig & CarbonConfig::setRdOutlierRangeThreshMinM

(

float

v

)

Range tolerance (m) at origin. Default: 0.1.

setRdOutlierRefRangeM()

CarbonConfig & CarbonConfig::setRdOutlierRefRangeM

(

float

v

)

Reference range (m). Default: 150.

setReceiverChannelCapacity()

CarbonConfig & CarbonConfig::setReceiverChannelCapacity

(

size_t

v

)

setRecvBufferSize()

CarbonConfig & CarbonConfig::setRecvBufferSize

(

size_t

v

)

setReportDir()

CarbonConfig & CarbonConfig::setReportDir

(

const std::string &

v

)

setSdlMaxRetries()

CarbonConfig & CarbonConfig::setSdlMaxRetries

(

uint8_t

v

)

setSdlTimeoutSec()

CarbonConfig & CarbonConfig::setSdlTimeoutSec

(

float

v

)

setSpatialFilterEnabled()

CarbonConfig & CarbonConfig::setSpatialFilterEnabled

(

bool

v

)

Enable the point-stage spatial outlier filter. Default: true.

setSpatialMinValidNeighbors()

CarbonConfig & CarbonConfig::setSpatialMinValidNeighbors

(

uint8_t

v

)

Minimum number of valid neighbors before either check runs. Default: 1.

setSpatialPointClusterSize()

CarbonConfig & CarbonConfig::setSpatialPointClusterSize

(

uint8_t

v

)

Minimum number of range- and Doppler-close neighbors required to keep a point. Default: 1.

setSpatialSupportThreshold()

CarbonConfig & CarbonConfig::setSpatialSupportThreshold

(

float

v

)

Drop the point when its own confidence plus the sum over Doppler-close neighbors falls below this. Default: 1.0.

setStreamTransport()

CarbonConfig & CarbonConfig::setStreamTransport

(

StreamTransport

v

)

How the sensor delivers its push stream: StreamTransport::Unicast (default; the sensor replies only to this client and arrives reliably even when the host has several network connections active at once) or StreamTransport::Multicast (streams to a shared group so several clients can view one sensor). A primary writes this to the FPGA on connect; observers ignore it.

setUseMsgTimestamp()

CarbonConfig & CarbonConfig::setUseMsgTimestamp

(

bool

v

)

setVelCorrFactor()

CarbonConfig & CarbonConfig::setVelCorrFactor

(

float

v

)

Friends And Related Symbol Documentation

CarbonClient

friend class CarbonClient

friend

Member Data Documentation

cfg_

CarbonConfigC* CarbonConfig::cfg_

private

---

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

• /usr/include/voyant_api/carbon_config.hpp