lidar_spec — DRIVE lidar op

• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)

• Call: import fullseye as fs; fs.ledger.lidar_spec(n_beams: 'int' = 32, v_fov_deg=(-25.0, 15.0), azimuth_res_deg: 'float' = 0.2, range_max: 'float' = 60.0, range_min: 'float' = 0.5, noise_std: 'float' = 0.0) -> 'dict' (to call the implementation directly, import lidarsim; lidarsim.lidar_spec(n_beams: 'int' = 32, v_fov_deg=(-25.0, 15.0), azimuth_res_deg: 'float' = 0.2, range_max: 'float' = 60.0, range_min: 'float' = 0.5, noise_std: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("lidar_spec"))

Usage

Creates the spec dict of a rotating LiDAR (default: 32 beams, elevation −25…+15°, azimuth 0.2° = 1800 columns).

• n_beams: number of laser layers (≥ 1). The elevation band v_fov_deg=(v_min, v_max) [deg] is divided equally, and row 0 is the top v_max side (same as spherical_proj). v_min < v_max, both within [−90, 90].

• azimuth_res_deg: azimuth step [deg] (> 0). ValueError if it does not divide 360° evenly (assumes one evenly spaced revolution. 0.2 → 1800 columns, 0.1 → 3600 columns).

• range_min / range_max [m]: measurement range (0 ≤ range_min < range_max < ∞). Nearest hits outside it give no return.

• noise_std [m]: standard deviation of Gaussian noise along the range (≥ 0, 0 = fully deterministic).

Returned dict: n_beams, n_az, v_fov_deg, azimuth_res_deg, range_min, range_max, noise_std, elevations (n_beams,) [rad, 行 0 = 上端], azimuths (n_az,) [rad, 列 0 = −π 側の中心].

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 · lidar_scan · rss_longitudinal_same

Same category (lidar)

lidar_scan · 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).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.