Developer Interface

Color Module

class TauLidarCommon.color.Color(r_, g_, b_)

RGB color.

r

red.

g

green.

b

blue.

class TauLidarCommon.color.ColorMode(value)

ColorMode mode Enum

Frame Module

class TauLidarCommon.frame.Frame(_height, _width, _data_depth, _data_depth_rgb, _data_grayscale, _data_amplitude, _points_3d, _data)

3D Frame data including distance and grayscale.

height

image height.

width

image width.

data_depth

depth map data, one dimensional array of float32. Example of converting to numpy array (opencv one channel Mat): mat_depth_map = np.frombuffer(frame.data_depth, dtype=np.float32, count=-1, offset=0).reshape(frame.height, frame.width)

data_depth_rgb

depth color map data, three dimensional array of uint8. Example of converting to numpy array (opencv three channel Mat): mat_depth_rgb = np.frombuffer(frame.data_depth_rgb, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width, 3) mat_depth_rgb = mat_depth_rgb.astype(np.uint8)

data_grayscale

grayscale data, one dimensional array of uint8. Example of converting to numpy array (opencv one channel Mat): mat_grayscale = np.frombuffer(frame.data_grayscale, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width) mat_grayscale = mat_grayscale.astype(np.uint8)

data_amplitude

amplitude data, one dimensional array of uint16. Example of converting to numpy array (opencv one channel Mat): mat_amplitude = np.frombuffer(frame.data_amplitude, dtype=np.float32, count=-1, offset=0).reshape(frame.height, frame.width) mat_amplitude = mat_amplitude.astype(np.uint8)

points_3d

3D points: list of unorganized 3D points. [X, Y, Z, R, G, B] XYZ: 3D coordinates in sensor coordinates reference system, unit is meter. RGB: pseudo RGB color values in a distance range based on smallest and largest Z values set by Camera.setRange(Z1, Z2).

class TauLidarCommon.frame.FrameType(value)

FrameType Enum

Frame Builder Class

class TauLidarCommon.d3.FrameBuilder

Helper class to build frame objects from raw bytestream camera output

composeDistanceAmplitudeFrame(dataArray)

helper function: compose Frame using raw bytearray data

composeDistanceFrame(dataArray)

helper function: compose Frame using raw bytearray data

composeDistanceGrayscaleFrame(dataArray)

helper function: compose Frame using raw bytearray data

composeFrame(dataArray, frameType)

compose Frame using raw bytearray data

setColorMode(colorMode)

set the color mode of data to be processed

setRange(z1, z2)

set 2D depth map color range

Image Colorizer Class

class TauLidarCommon.d3.ImageColorizer

Helper class to color depth map.

setRange(index) :

set distance range for coloring.

getGrayscale(distance) :

get grayscale based on distance value.

getColor(distance) :

get RGB color based on distance value.

getColor(value)

get RGB color based on distance value.

Parameters

value – distance value in minimeters.

getGrayscale(value)

get grayscale based on distance value.

Parameters

value – distance value in minimeters.

setRange(start, stop)

set distance range for coloring.

Parameters

  • start – starting distance.

  • stop – stopping distance.