#include <voyant_point_data_wrapper.hpp>

Inheritance diagram for PointDataWrapper:

Public Member Functions
	~PointDataWrapper () override
	Destructor.
void	fromProto (PointData::Reader reader) override
	Update wrapper fields from a Cap'n Proto reader.
void	toProto (PointData::Builder &builder) const override
	Write wrapper fields to a Cap'n Proto builder.
void	debugString (std::ostream &os) const override
	Generate a debug string representation.
int32_t	timestamp_nanosecs () const
	Get timestamp in nanoseconds since frame start.
void	set_timestamp_nanosecs (int32_t value)
	Set timestamp in nanoseconds.
uint32_t	point_index () const
	Get point index within frame.
void	set_point_index (uint32_t value)
	Set point index.
float	x () const
	Get X position in meters.
void	set_x (float value)
	Set X position.
float	y () const
	Get Y position in meters.
void	set_y (float value)
	Set Y position.
float	z () const
	Get Z position in meters.
void	set_z (float value)
	Set Z position.
float	radial_vel () const
	Get radial velocity in m/s.
void	set_radial_vel (float value)
	Set radial velocity.
float	snr_linear () const
	Get signal-to-noise ratio (linear, electrical power).
void	set_snr_linear (float value)
	Set signal-to-noise ratio.
float	calibrated_reflectance () const
	Get calibrated reflectance.
void	set_calibrated_reflectance (float value)
	Set calibrated reflectance.
float	noise_mean_estimate () const
	Get estimated mean noise level about the peaks.
void	set_noise_mean_estimate (float value)
	Set noise mean estimate.
float	min_ramp_snr () const
	Get minimum ramp SNR.
void	set_min_ramp_snr (float value)
	Set minimum ramp SNR.
DropReason	drop_reason () const
	Get point drop reason.
void	set_drop_reason (DropReason value)
	Set point drop reason.
bool	is_valid () const
	Check if point is valid based on drop reason.
void	set_point_index_components (uint16_t azimuth, uint16_t elevation)
	Encode azimuth and elevation into the point_index field.
uint16_t	azimuth_index () const
	Extract azimuth index from point_index.
uint16_t	elevation_index () const
	Extract elevation index from point_index.
float	range () const
	Calculate the range (Euclidean distance from origin) of the point.
float	azimuth_radians () const
	Get azimuth angle in radians.
float	azimuth_degrees () const
	Get azimuth angle in degrees.
float	elevation_radians () const
	Get elevation angle in radians.
float	elevation_degrees () const
	Get elevation angle in degrees.
void	fromBuffer (const uint8_t *buffer, size_t size)
	Update wrapper fields from a serialized message buffer.
size_t	toBuffer (uint8_t *buffer, size_t buffer_size) const
	Serialize this wrapper to a buffer using Cap'n Proto format.

Private Attributes
int32_t	timestamp_nanosecs_ = 0
	Timestamp in nanoseconds since frame start.
uint32_t	point_index_ = 0
	Point index within frame (encoded azimuth/elevation).
float	x_ = 0.0f
	X position in meters (Cartesian coordinate).
float	y_ = 0.0f
	Y position in meters (Cartesian coordinate).
float	z_ = 0.0f
	Z position in meters (Cartesian coordinate).
float	radial_vel_ = 0.0f
	Radial velocity in m/s (Doppler measurement).
float	snr_linear_ = 0.0f
	Signal-to-Noise Ratio (electrical power, see snr_linear()).
float	calibrated_reflectance_ = 0.0f
	Calibrated reflectance (not implemented).
float	noise_mean_estimate_ = 0.0f
	Noise floor estimate for SNR calculation.
float	min_ramp_snr_ = 0.0f
	Minimum ramp SNR (internal test use).
DropReason	drop_reason_ = DropReason::UNKNOWN
	Point validity status (see drop_reason()).

Detailed Description

Wrapper for PointData messages.

Provides a C++ interface for handling LiDAR point data with position, velocity, signal quality, and validity information.

Constructor & Destructor Documentation

◆ ~PointDataWrapper()

PointDataWrapper::~PointDataWrapper ( )

override

Destructor.

Member Function Documentation

◆ azimuth_degrees()

float PointDataWrapper::azimuth_degrees ( ) const

Get azimuth angle in degrees.

Angle on the XY plane, measured counterclockwise from the positive X axis. 0° is along the positive X axis, 90° is along the positive Y axis.

Returns: Azimuth angle in degrees [-180, 180]

◆ azimuth_index()

uint16_t PointDataWrapper::azimuth_index ( ) const

Extract azimuth index from point_index.

Returns: Azimuth index (16 bits)

◆ azimuth_radians()

float PointDataWrapper::azimuth_radians ( ) const

Get azimuth angle in radians.

Angle on the XY plane, measured counterclockwise from the positive X axis. 0° is along the positive X axis, 90° is along the positive Y axis.

Returns: Azimuth angle in radians [-π, π]

◆ calibrated_reflectance()

float PointDataWrapper::calibrated_reflectance ( ) const

inline

Get calibrated reflectance.

Note: Not currently implemented - reserved for future use

Returns: Reflectance measurement (currently unused)

◆ debugString()

void PointDataWrapper::debugString ( std::ostream & os ) const

overridevirtual

Generate a debug string representation.

Parameters

os	The output stream to write to

Implements CapnpWrapper< PointData >.

◆ drop_reason()

DropReason PointDataWrapper::drop_reason ( ) const

inline

Get point drop reason.

Indicates whether this point passed validation checks:

0: Unknown status
1: Success (Valid point)
2+: Invalid point (various failure reasons)

Returns: Drop reason enum value

◆ elevation_degrees()

float PointDataWrapper::elevation_degrees ( ) const

Get elevation angle in degrees.

Angle from the horizontal XY plane toward the Z axis. 0° points horizontally, +90° points straight up, -90° points straight down.

Returns: Elevation angle in degrees [-90, 90]

◆ elevation_index()

uint16_t PointDataWrapper::elevation_index ( ) const

Extract elevation index from point_index.

Returns: Elevation index (12 bits)

◆ elevation_radians()

float PointDataWrapper::elevation_radians ( ) const

Get elevation angle in radians.

Angle from the horizontal XY plane toward the Z axis. 0° points horizontally, +90° points straight up, -90° points straight down.

Returns: Elevation angle in radians [-π/2, π/2]

◆ fromBuffer()

void CapnpWrapper< PointData >::fromBuffer	(	const uint8_t *	buffer,
		size_t	size )

inlineinherited

Update wrapper fields from a serialized message buffer.

Parameters

buffer	Pointer to the buffer containing serialized Cap'n Proto data
size	Size of the buffer in bytes

◆ fromProto()

void PointDataWrapper::fromProto ( PointData::Reader reader )

overridevirtual

Update wrapper fields from a Cap'n Proto reader.

Parameters

reader The PointData reader to extract data from

Implements CapnpWrapper< PointData >.

◆ is_valid()

bool PointDataWrapper::is_valid ( ) const

inline

Check if point is valid based on drop reason.

Returns: True if drop reason is SUCCESS, false otherwise

◆ min_ramp_snr()

float PointDataWrapper::min_ramp_snr ( ) const

inline

Get minimum ramp SNR.

Note: Intended for internal test team use only

Returns: Minimum ramp SNR value

◆ noise_mean_estimate()

float PointDataWrapper::noise_mean_estimate ( ) const

inline

Get estimated mean noise level about the peaks.

This value is used internally to calculate the Signal-to-Noise Ratio (SNR) by providing the noise floor estimation for the detection algorithm.

Returns: Noise mean value

◆ point_index()

uint32_t PointDataWrapper::point_index ( ) const

inline

Get point index within frame.

Returns: Point index value (contains encoded azimuth and elevation)

◆ radial_vel()

float PointDataWrapper::radial_vel ( ) const

inline

Get radial velocity in m/s.

Returns: Doppler velocity estimate

◆ range()

float PointDataWrapper::range ( ) const

Calculate the range (Euclidean distance from origin) of the point.

Returns: Range in meters

◆ set_calibrated_reflectance()

void PointDataWrapper::set_calibrated_reflectance ( float value )

inline

Set calibrated reflectance.

Parameters

value Reflectance value

◆ set_drop_reason()

void PointDataWrapper::set_drop_reason ( DropReason value )

inline

Set point drop reason.

Parameters

value Drop reason enum value

◆ set_min_ramp_snr()

void PointDataWrapper::set_min_ramp_snr ( float value )

inline

Set minimum ramp SNR.

Parameters

value Minimum ramp SNR value

◆ set_noise_mean_estimate()

void PointDataWrapper::set_noise_mean_estimate ( float value )

inline

Set noise mean estimate.

Parameters

value Noise mean value

◆ set_point_index()

void PointDataWrapper::set_point_index ( uint32_t value )

inline

Set point index.

Parameters

value Point index value

◆ set_point_index_components()

void PointDataWrapper::set_point_index_components	(	uint16_t	azimuth,
		uint16_t	elevation )

Encode azimuth and elevation into the point_index field.

Parameters

azimuth	Azimuth index (16 bits)
elevation	Elevation index (12 bits)

◆ set_radial_vel()

void PointDataWrapper::set_radial_vel ( float value )

inline

Set radial velocity.

Parameters

value Velocity in m/s

◆ set_snr_linear()

void PointDataWrapper::set_snr_linear ( float value )

inline

Set signal-to-noise ratio.

Parameters

value SNR value in linear scale (electrical power)

◆ set_timestamp_nanosecs()

void PointDataWrapper::set_timestamp_nanosecs ( int32_t value )

inline

Set timestamp in nanoseconds.

Parameters

value Timestamp value

◆ set_x()

void PointDataWrapper::set_x ( float value )

inline

Set X position.

Parameters

value X coordinate in meters

◆ set_y()

void PointDataWrapper::set_y ( float value )

inline

Set Y position.

Parameters

value Y coordinate in meters

◆ set_z()

void PointDataWrapper::set_z ( float value )

inline

Set Z position.

Parameters

value Z coordinate in meters

◆ snr_linear()

float PointDataWrapper::snr_linear ( ) const

inline

Get signal-to-noise ratio (linear, electrical power).

This value represents the SNR of the detected point and is normally thresholded for detection at 1e-3 Probability of False Alarm.

Returns: SNR value in linear scale (electrical power)

◆ timestamp_nanosecs()

int32_t PointDataWrapper::timestamp_nanosecs ( ) const

inline

Get timestamp in nanoseconds since frame start.

Returns: Timestamp value

◆ toBuffer()

size_t CapnpWrapper< PointData >::toBuffer	(	uint8_t *	buffer,
		size_t	buffer_size ) const

inlineinherited

Serialize this wrapper to a buffer using Cap'n Proto format.

Parameters

buffer	Pointer to the buffer to write serialized data to
buffer_size	Size of the buffer in bytes

Returns: The number of bytes written to the buffer

Exceptions

std::runtime_error if the buffer is too small

◆ toProto()

void PointDataWrapper::toProto ( PointData::Builder & builder ) const

overridevirtual

Write wrapper fields to a Cap'n Proto builder.

Parameters

builder The PointData builder to write data to

Implements CapnpWrapper< PointData >.

◆ x()

float PointDataWrapper::x ( ) const

inline

Get X position in meters.

Returns: X coordinate

◆ y()

float PointDataWrapper::y ( ) const

inline

Get Y position in meters.

Returns: Y coordinate

◆ z()

float PointDataWrapper::z ( ) const

inline

Get Z position in meters.

Returns: Z coordinate

Member Data Documentation

◆ calibrated_reflectance_

float PointDataWrapper::calibrated_reflectance_ = 0.0f

private

Calibrated reflectance (not implemented).

◆ drop_reason_

DropReason PointDataWrapper::drop_reason_ = DropReason::UNKNOWN

private

Point validity status (see drop_reason()).

◆ min_ramp_snr_

float PointDataWrapper::min_ramp_snr_ = 0.0f

private

Minimum ramp SNR (internal test use).

◆ noise_mean_estimate_

float PointDataWrapper::noise_mean_estimate_ = 0.0f

private

Noise floor estimate for SNR calculation.

◆ point_index_

uint32_t PointDataWrapper::point_index_ = 0

private

Point index within frame (encoded azimuth/elevation).

◆ radial_vel_

float PointDataWrapper::radial_vel_ = 0.0f

private

Radial velocity in m/s (Doppler measurement).

◆ snr_linear_

float PointDataWrapper::snr_linear_ = 0.0f

private

Signal-to-Noise Ratio (electrical power, see snr_linear()).

◆ timestamp_nanosecs_

int32_t PointDataWrapper::timestamp_nanosecs_ = 0

private

Timestamp in nanoseconds since frame start.

◆ x_

float PointDataWrapper::x_ = 0.0f

private

X position in meters (Cartesian coordinate).

◆ y_

float PointDataWrapper::y_ = 0.0f

private

Y position in meters (Cartesian coordinate).

◆ z_

float PointDataWrapper::z_ = 0.0f

private

Z position in meters (Cartesian coordinate).

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

/usr/include/voyant_api/proto_wrappers/voyant_point_data_wrapper.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~PointDataWrapper()

Member Function Documentation

◆ azimuth_degrees()

◆ azimuth_index()

◆ azimuth_radians()

◆ calibrated_reflectance()

◆ debugString()

◆ drop_reason()

◆ elevation_degrees()

◆ elevation_index()

◆ elevation_radians()

◆ fromBuffer()

◆ fromProto()

◆ is_valid()

◆ min_ramp_snr()

◆ noise_mean_estimate()

◆ point_index()

◆ radial_vel()

◆ range()

◆ set_calibrated_reflectance()

◆ set_drop_reason()

◆ set_min_ramp_snr()

◆ set_noise_mean_estimate()

◆ set_point_index()

◆ set_point_index_components()

◆ set_radial_vel()

◆ set_snr_linear()

◆ set_timestamp_nanosecs()

◆ set_x()

◆ set_y()

◆ set_z()

◆ snr_linear()

◆ timestamp_nanosecs()

◆ toBuffer()

◆ toProto()

◆ x()

◆ y()

◆ z()

Member Data Documentation

◆ calibrated_reflectance_

◆ drop_reason_

◆ min_ramp_snr_

◆ noise_mean_estimate_

◆ point_index_

◆ radial_vel_

◆ snr_linear_

◆ timestamp_nanosecs_

◆ x_

◆ y_

◆ z_