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.

class TauLidarCommon.frame.FrameType(value)

FrameType Enum