lidar_scan — DRIVE `lidar` op

• Data kinds: mesh × table × matrix → table

• Call: import fullseye as fs; fs.ledger.lidar_scan(V, F, spec, T_sensor, *, labels=None, seed: 'int' = 0) -> 'dict' (to call the implementation directly, import lidarsim; lidarsim.lidar_scan(V, F, spec, T_sensor, *, labels=None, seed: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("lidar_scan"))

Usage

Fires 1 sweep of a LiDAR with pose T_sensor (world ← sensor) into the mesh world (V, F).

• V (N,3) float / F (M,3) int: triangle mesh (empty, non-(N,3), non-finite, or out-of-range face indices raise ValueError).

• spec: the dict from lidar_spec.

• T_sensor: 4×4 homogeneous matrix (world ← sensor). Sensor coordinates: x=forward, y=left, z=up.

• labels: int label per face (M,) or None (if None, the label of hit cells is 0).

• seed: random seed for noise (if noise_std == 0 no random numbers are drawn at all, bit-for-bit deterministic).

Returned dict:

points (K,3) reflection points in world coordinates (row-major: from column 0 of beam 0) / ranges (n_beams, n_az) [m] (0 = no return) / hit_face (n_beams, n_az) int (−1 = none) / labels (n_beams, n_az) int (−1 = none) / beam (K,) int / col (K,) int / n_hits int. If the nearest face is below range_min or above range_max, there is no return (it does not pass through to a farther face). Noise is added to ranges and points after whether there is a return has been decided from the noise-free range.

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_driving_school — py -3.11 examples/poc_driving_school.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · rss_longitudinal_same · rss_longitudinal_opposite

Same category (`lidar`)

lidar_spec · ray_plane_range · ray_box_ranges

*Provenance: lidarsim.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

lidar_scan — DRIVE lidar op