Classes
class	ULiDARcloud
	Opaque structure for LiDARcloud C++ class. More...

Functions
	_check_error (result, func, args)
	Automatic error checking for all LiDAR functions.

None	destroyLiDARcloud (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Destroy LiDARcloud instance.

int	addLiDARScan (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] origin, int Ntheta, Tuple[float, float] theta_range, int Nphi, Tuple[float, float] phi_range, float exit_diameter, float beam_divergence, Optional[List[str]] column_format=None, float range_noise_stddev=0.0, float angle_noise_stddev=0.0, float scan_tilt_roll=0.0, float scan_tilt_pitch=0.0, float scan_azimuth_offset=0.0)
	Add a LiDAR scan to the point cloud.

int	addLiDARScanMoving (ctypes.POINTER(ULiDARcloud) cloud_ptr, int Ntheta, Tuple[float, float] theta_range, int Nphi, Tuple[float, float] phi_range, float exit_diameter, float beam_divergence, List[float] traj_t, List[List[float]] traj_pos, List[List[float]] traj_rot, bool rot_is_quaternion, float pulse_rate_hz, Optional[List[float]] lever_arm=None, Optional[List[float]] boresight_rpy=None, Optional[List[str]] column_format=None, float range_noise_stddev=0.0, float angle_noise_stddev=0.0, float t0=0.0)
	Add a moving-platform (mobile/airborne) raster LiDAR scan driven by a 6-DOF pose trajectory.

int	addLiDARScanSpinning (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] beam_elevation_angles, float azimuth_step_rad, float pulse_rate_hz, List[float] traj_t, List[List[float]] traj_pos, List[List[float]] traj_rot, bool rot_is_quaternion, float exit_diameter=0.0, float beam_divergence=0.0, Optional[List[float]] lever_arm=None, Optional[List[float]] boresight_rpy=None, Optional[List[str]] column_format=None, float range_noise_stddev=0.0, float angle_noise_stddev=0.0, float t0=0.0)
	Add a continuously-spinning multibeam scan from physical instrument parameters.

int	addLiDARScanMovingRaster (ctypes.POINTER(ULiDARcloud) cloud_ptr, int Ntheta, Tuple[float, float] theta_range, int Nphi, Tuple[float, float] phi_range, float pulse_rate_hz, List[float] traj_t, List[List[float]] traj_pos, List[List[float]] traj_quat, float exit_diameter=0.0, float beam_divergence=0.0, Optional[List[float]] lever_arm=None, Optional[List[float]] boresight_rpy=None, Optional[List[str]] column_format=None, float range_noise_stddev=0.0, float angle_noise_stddev=0.0, float t0=0.0)
	Add a moving-platform raster scan: a fixed angular fan swept along a quaternion trajectory.

int	addLiDARScanRisley (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[List[float]] prisms, float refractive_index_air, float pulse_rate_hz, List[float] traj_t, List[List[float]] traj_pos, List[List[float]] traj_rot, bool rot_is_quaternion, float exit_diameter=0.0, float beam_divergence=0.0, Optional[List[float]] lever_arm=None, Optional[List[float]] boresight_rpy=None, Optional[List[str]] column_format=None, float range_noise_stddev=0.0, float angle_noise_stddev=0.0, float t0=0.0)
	Add a rotating-Risley-prism (Livox-style rosette) scan from physical instrument parameters.

int	getLiDARScanMode (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the acquisition mode (0 = static raster, 1 = moving raster, 2 = spinning, 3 = Risley prism).

int	getLiDARScanStepsPerRev (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the number of azimuth firing steps per revolution (spinning scans; 0 otherwise).

float	getLiDARScanRotationRate (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the sensor-head rotation rate in revolutions/second (spinning scans; 0 otherwise).

float	getLiDARScanRevolutions (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the number of revolutions the sensor head made (spinning scans; 0 otherwise).

List[List[float]]	getLiDARScanRisleyPrisms (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the rotating wedge prisms of a Risley-prism scan.

float	getLiDARScanRisleyRefractiveIndexAir (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the refractive index of the medium surrounding the prisms of a Risley-prism scan (1.0 for non-Risley).

int	getLiDARScanReturnMode (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the return-reporting mode (0 = multi, 1 = single).

None	setLiDARScanReturnMode (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, int return_mode)
	Set the return-reporting mode (0 = multi, 1 = single).

int	getLiDARScanSingleReturnSelection (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the single/limited-return selection policy (0 = strongest, 1 = first, 2 = last, 3 = strongest+last).

None	setLiDARScanSingleReturnSelection (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, int selection)
	Set the single/limited-return selection policy (0 = strongest, 1 = first, 2 = last, 3 = strongest+last).

int	getLiDARScanMaxReturns (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the maximum returns per pulse used in single/limited-return mode.

None	setLiDARScanMaxReturns (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, int max_returns)
	Set the maximum returns per pulse used in single/limited-return mode (must be >= 1).

float	getLiDARScanPulseWidth (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the pulse width / range resolution (meters) of a scan (0 = use syntheticScan argument).

None	setLiDARScanPulseWidth (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, float pulse_width)
	Set the pulse width / range resolution (meters) of a scan (0 = use syntheticScan argument).

float	getLiDARScanDetectionThreshold (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the detection threshold (energy fraction, noise floor) of a scan.

None	setLiDARScanDetectionThreshold (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, float detection_threshold)
	Set the detection threshold (energy fraction, noise floor) of a scan.

float	getLiDARScanTiltRoll (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the global scanner tilt roll angle (radians) for a scan.

float	getLiDARScanTiltPitch (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the global scanner tilt pitch angle (radians) for a scan.

float	getLiDARScanAzimuthOffset (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the global scanner azimuth (heading) offset angle (radians) for a scan.

int	getLiDARScanPattern (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the scan pattern (0 = raster, 1 = spinning multibeam).

List[float]	getLiDARScanBeamZenithAngles (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the per-channel beam zenith angles (radians) for a multibeam scan (empty for raster).

bool	isLiDARHitMiss (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Return True if the hit is a miss (a transmitted beam that returned nothing).

bool	lidarHasMisses (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Return True if the cloud contains at least one miss.

float	getLiDARMissDistance ()
	Return the LIDAR_MISS_DISTANCE constant (meters).

int	getLiDARScanCount (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Get number of scans in the cloud.

List[float]	getLiDARScanOrigin (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get origin of a specific scan.

int	getLiDARScanSizeTheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get number of zenith scan points.

int	getLiDARScanSizePhi (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get number of azimuthal scan points.

float	getLiDARScanRangeNoiseStdDev (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the range (along-beam) measurement noise standard deviation for a scan (meters)

float	getLiDARScanAngleNoiseStdDev (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID)
	Get the angular (beam-pointing) jitter standard deviation for a scan (radians)

None	addLiDARHitPoint (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, List[float] xyz, List[float] direction)
	Add a hit point to the cloud.

None	addLiDARHitPointRGB (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, List[float] xyz, List[float] direction, List[float] color)
	Add a hit point with color to the cloud.

None	addLiDARHitPoints (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, xyzs, directions, int count, colors=None)
	Add many hit points to the cloud in a single call (bulk ingestion).

None	addLiDARHitPointsWithData (ctypes.POINTER(ULiDARcloud) cloud_ptr, int scanID, xyzs, directions, int count, colors=None, labels=None, data_values=None)
	Bulk-ingest hit points carrying a per-hit data map in one call.

int	getLiDARHitCount (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Get total number of hit points.

List[float]	getLiDARHitXYZ (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get coordinates of a hit point.

List[float]	getLiDARHitOrigin (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the (x,y,z) beam-emission origin of a hit point.

List[float]	getLiDARHitRaydir (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get ray direction of a hit point.

List[float]	getLiDARHitColor (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get color of a hit point.

int	getLiDARHitScanID (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the scan ID a hit point belongs to.

bool	doesLiDARHitDataExist (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index, str label)
	Check whether a named scalar data value exists for a hit point.

float	getLiDARHitData (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index, str label)
	Get a named scalar data value for a hit point.

List[float]	getLiDARHitData_all (ctypes.POINTER(ULiDARcloud) cloud_ptr, str label, int n)
	Bulk-export a named scalar data value for all hit points in one call.

Tuple[List[float], List[float]]	getLiDARHitsXYZRGB_all (ctypes.POINTER(ULiDARcloud) cloud_ptr, int n)
	Bulk-export XYZ coordinates and RGB colors for all hit points in one call.

	getLiDARHitsXYZRGB_all_np (ctypes.POINTER(ULiDARcloud) cloud_ptr, int n)
	Bulk-export XYZ + RGB for all hits as numpy arrays (no per-element Python).

	getLiDARHitData_all_np (ctypes.POINTER(ULiDARcloud) cloud_ptr, str label, int n)
	Bulk-export a named scalar field for all hits as an (n,) float32 numpy array (NaN where the label is absent for a hit).

List[float]	getLiDARHitDataColumn (ctypes.POINTER(ULiDARcloud) cloud_ptr, str label, int n, float absent_value=-9999.0)
	Bulk-export a named scalar column via the native cache-linear columnar path.

int	getLiDARHitDataColumnIndex (ctypes.POINTER(ULiDARcloud) cloud_ptr, str label)
	Get the internal column slot index for a hit-data label (-1 if never set on any hit).

	getLiDARHitDataColumn_np (ctypes.POINTER(ULiDARcloud) cloud_ptr, str label, int n, float absent_value=-9999.0)
	Bulk-export a named scalar column as an (n,) float64 numpy array via the columnar path (absent_value where the label is absent for a hit).

	getLiDARHitScanID_all (ctypes.POINTER(ULiDARcloud) cloud_ptr, int n)
	Bulk-export the scan ID of every hit as an (n,) int32 numpy array.

	isLiDARHitMiss_all (ctypes.POINTER(ULiDARcloud) cloud_ptr, int n)
	Bulk-export the miss flag of every hit as an (n,) int32 numpy array (1=miss).

None	deleteLiDARHitPoint (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Delete a hit point from the cloud.

None	lidarCoordinateShift (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] shift)
	Translate all hit points by a shift vecto.

None	lidarCoordinateRotation (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] rotation)
	Rotate all hit points by spherical rotation angles.

None	lidarTriangulateHitPoints (ctypes.POINTER(ULiDARcloud) cloud_ptr, float Lmax, float max_aspect_ratio)
	Generate triangle mesh from hit points.

int	getLiDARTriangleCount (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Get number of triangles in the mesh.

dict	getLiDARTriangulationStats (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Filter diagnostics from the most recent triangulateHitPoints() call.

	getLiDARTriangleVertices_all (ctypes.POINTER(ULiDARcloud) cloud_ptr, int tri_count)
	Bulk-export every triangle's vertices (and source scan) in one call.

None	lidarSetExternalTriangulation (ctypes.POINTER(ULiDARcloud) cloud_ptr, xyz_flat, scan_ids, int tri_count)
	Replace the internal triangulation with an externally-supplied mesh.

None	lidarDistanceFilter (ctypes.POINTER(ULiDARcloud) cloud_ptr, float maxdistance)
	Filter hit points by maximum distance.

None	lidarReflectanceFilter (ctypes.POINTER(ULiDARcloud) cloud_ptr, float minreflectance)
	Filter hit points by minimum reflectance.

None	lidarFirstHitFilter (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Keep only first return hit points.

None	lidarLastHitFilter (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Keep only last return hit points.

None	exportLiDARPointCloud (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename, bool write_header=True)
	Export point cloud to ASCII file (optionally with a '#'-prefixed column header)

None	exportLiDARLeafAreaUncertainty (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export per-voxel leaf-area sampling uncertainty to a self-describing ASCII file.

None	exportLiDARScans (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export all scans to an XML metadata file plus one ASCII data file per scan.

None	loadLiDARXML (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Load scan metadata from XML file.

None	lidarDisableMessages (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Disable console output messages.

None	lidarEnableMessages (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Enable console output messages.

None	addLiDARGrid (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] center, List[float] size, List[int] ndiv, float rotation)
	Add a rectangular grid of voxel cells.

None	addLiDARGridTerrainFollowing (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] center, List[float] size, List[int] ndiv, float rotation, List[float] column_z_offsets)
	Add a rectangular grid of voxel cells with per-column vertical offsets.

None	addLiDARGridCell (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[float] center, List[float] size, float rotation)
	Add a single grid cell.

int	getLiDARGridCellCount (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Get number of grid cells.

List[float]	getLiDARCellCenter (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get center position of a grid cell.

List[float]	getLiDARCellCenterUnrotated (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the UNROTATED (axis-aligned lattice) center position of a grid cell.

List[float]	getLiDARCellSize (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get size of a grid cell.

float	getLiDARCellRotation (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get azimuthal rotation of a grid cell about the z-axis, in degrees.

float	getLiDARCellLeafArea (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get leaf area of a grid cell.

float	getLiDARCellLeafAreaDensity (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get leaf area density of a grid cell.

None	calculateLiDARHitGridCell (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Calculate hit point grid cell assignments.

None	syntheticLiDARScan (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Perform synthetic discrete-return LiDAR scan.

None	syntheticLiDARScanAppend (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, bool append)
	Perform synthetic scan with append control.

None	setLiDARCancelFlag (ctypes.POINTER(ULiDARcloud) cloud_ptr, flag)
	Register an external cancellation flag polled during syntheticScan.

None	setLiDARSyntheticScanMemoryBudget (ctypes.POINTER(ULiDARcloud) cloud_ptr, int bytes)
	Set the soft memory budget (bytes) for syntheticScan's transient trace buffers.

int	getLiDARSyntheticScanMemoryBudget (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Get the soft memory budget (bytes) for syntheticScan's transient buffers.

None	setLiDARSyntheticScanProgressPointer (ctypes.POINTER(ULiDARcloud) cloud_ptr, ptr)
	Register an external per-scan progress counter polled during syntheticScan.

None	setLiDARProgressCallback (ctypes.POINTER(ULiDARcloud) cloud_ptr, callback)
	Register a progress callback fired with (progress_fraction, message) during syntheticScan.

None	syntheticLiDARScanDiscrete (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, bool scan_grid_only, bool record_misses, bool append)
	Perform discrete-return synthetic scan with miss-recording control.

None	syntheticLiDARScanWaveform (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, int rays_per_pulse, float pulse_distance_threshold)
	Perform synthetic full-waveform LiDAR scan.

None	syntheticLiDARScanFull (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, int rays_per_pulse, float pulse_distance_threshold, bool scan_grid_only, bool record_misses, bool append)
	Perform synthetic scan with full control.

None	syntheticLiDARScanReturnMode (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, int rays_per_pulse, float pulse_distance_threshold, int return_mode, bool scan_grid_only=False, bool record_misses=False, bool append=True)
	Perform an analytic-waveform synthetic scan with an explicit return mode.

None	calculateLiDARLeafArea (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Calculate leaf area for each grid cell.

None	calculateLiDARLeafAreaMinHits (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, int min_voxel_hits)
	Calculate leaf area with minimum voxel hits threshold.

None	calculateLiDARLeafAreaUncertainty (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, int min_voxel_hits, float element_width)
	Calculate leaf area plus per-voxel sampling uncertainty (Pimont et al.

None	calculateLiDARLeafAreaGtheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr, float Gtheta, int min_voxel_hits, float element_width)
	Calculate leaf area using a caller-supplied G(theta), without requiring triangulation.

int	getLiDARCellBeamCount (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the beam count N entering a grid cell (-1 if calculateLeafArea not run).

float	getLiDARCellRelativeDensityIndex (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the relative density index I_rdi for a grid cell.

float	getLiDARCellMeanPathLength (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the mean beam path length (m) through a grid cell.

float	getLiDARCellLADVariance (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get the per-voxel LAD sampling variance (-1 if unavailable).

	getLiDARCellLeafAreaConfidenceInterval (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index, float confidence_level=0.95)
	Single-voxel leaf-area confidence interval.

	getLiDARGroupLADConfidenceInterval (ctypes.POINTER(ULiDARcloud) cloud_ptr, List[int] indices, float confidence_level=0.95)
	Group-scale LAD confidence interval over a set of cells (recommended path).

None	exportLiDARTriangleNormals (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export triangle normal vectors.

None	exportLiDARTriangleAreas (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export triangle areas.

None	exportLiDARLeafAreas (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export leaf areas for each grid cell.

None	exportLiDARLeafAreaDensities (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export leaf area densities for each grid cell.

None	exportLiDARGtheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, str filename)
	Export G(theta) values for each grid cell.

float	getLiDARCellGtheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, int index)
	Get G(theta) value for a grid cell.

None	setLiDARCellGtheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, float Gtheta, int index)
	Set G(theta) value for a grid cell.

None	gapfillLiDARMisses (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Gapfill sky/miss points.

None	calculateSyntheticLiDARLeafArea (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Calculate synthetic leaf area for validation.

None	calculateSyntheticLiDARGtheta (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Calculate synthetic G(theta) for validation.

None	addLiDARTrianglesToContext (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Add triangulated mesh to Context as primitives.

None	initializeLiDARCollisionDetection (ctypes.POINTER(ULiDARcloud) cloud_ptr, ctypes.POINTER(UContext) context_ptr)
	Initialize CollisionDetection for ray tracing.

None	enableLiDARCDGPUAcceleration (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Enable GPU acceleration for collision detection.

None	disableLiDARCDGPUAcceleration (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Disable GPU acceleration for collision detection.

bool	isLiDARGPUAvailable (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Return True if a CUDA-capable GPU is available for collision-detection acceleration.

bool	isLiDARGPUAccelerationEnabled (ctypes.POINTER(ULiDARcloud) cloud_ptr)
	Return True if GPU acceleration is currently enabled for collision detection.

	mock_createLiDARcloud (args, *kwargs)

	mock_lidar_operation (args, *kwargs)

None	_require_lidar_1384 ()
	Raise if the native library predates the helios-core 1.3.84 LiDAR additions.

int	gapfillLiDARMissesCount (cloud_ptr)
	Gapfill every scan, returning only the number of points added.

int	gapfillLiDARMissesCountScan (cloud_ptr, int scanID, bool gapfill_grid_only, bool add_flags)
	Gapfill one scan, returning only the number of points added.

int	getLiDARVirtualMissCount (cloud_ptr)
	Number of gap-filled misses currently held in virtualized form.

dict	getLiDARCroppedReturnStats (cloud_ptr)
	Returns the last leaf-area inversion inferred from target_count, as a dict of counts.

bool	hasLiDARVirtualMisses (cloud_ptr)
	Whether any gap-filled miss is currently held in virtualized form.

None	materializeLiDARMisses (cloud_ptr)
	Convert every virtualized gap-filled miss into a stored hit point.

	getLiDARScanGridDirection (cloud_ptr, int scanID, int row, int column)
	Beam direction at a scan-grid cell as (radius, elevation, azimuth).

	getLiDARHitXYZColumn (cloud_ptr, int count)
	Read every hit's position in index order in one pass.

	getLiDARHitScanIDColumn (cloud_ptr, int count)
	Read every hit's scan ID in index order in one pass.

int	estimateLiDARHitPointMemory (cloud_ptr, int hit_count)
	Estimated resident bytes for a cloud of `hit_count` points.

None	setLiDARMaxHitPoints (cloud_ptr, int max_hits)
	Set the cap on stored hit points (0 disables the check).

int	getLiDARMaxHitPoints (cloud_ptr)
	Current cap on stored hit points.

int	getLiDARDefaultMaxHitPoints ()
	Default cap on the number of stored hit points in a cloud.

None	reserveLiDARHitPoints (cloud_ptr, int hit_count)
	Reserve capacity for hit points and every scalar-data column at once.

None	setLiDARExactPathLengths (cloud_ptr, bool exact)
	Keep every beam path length exactly, instead of binning them.

bool	getLiDARExactPathLengths (cloud_ptr)
	Whether path lengths are accumulated exactly.

None	_require_lidar_1385 ()
	Raise if the native library predates the helios-core 1.3.85 LiDAR additions.

bool	lidarIsMultiReturnData (cloud_ptr)
	Whether any hit has target_count > 1 (the switch triangulateHitPoints() branches on).

None	calculateLiDARLeafAreaGthetaPerCell (cloud_ptr, context_ptr, List[float] Gtheta_per_cell, int min_voxel_hits, float element_width)
	Calculate leaf area with one caller-supplied G(theta) per grid cell, without triangulation.

None	_require_lidar_1386 ()
	Raise if the native library predates the helios-core 1.3.86 LiDAR additions.

None	createLiDARHitDataColumn (cloud_ptr, str label, int type_code)
	Create a per-hit scalar-data column with an explicit storage type.

int	getLiDARHitDataType (cloud_ptr, str label)
	Storage type of an existing column as the HitDataType ABI integer (raises if unknown).

List[float]	getLiDARHitDataColumnF32 (cloud_ptr, str label, int n, float absent_value=-9999.0)
	Bulk-export a named scalar column as 32-bit floats (no widening of a FLOAT32 column).

	getLiDARHitDataColumnF32_np (cloud_ptr, str label, int n, float absent_value=-9999.0)
	Bulk-export a named scalar column as an (n,) float32 numpy array.

List[int]	getLiDARHitDataColumnI32 (cloud_ptr, str label, int n, int absent_value=-9999)
	Bulk-export a named scalar column as 32-bit ints.

	getLiDARHitDataColumnI32_np (cloud_ptr, str label, int n, int absent_value=-9999)
	Bulk-export a named scalar column as an (n,) int32 numpy array.

None	addLiDARHitPointsBulk (cloud_ptr, int scanID, xyz, dir_spherical=None, Optional[List[str]] labels=None, values=None)
	Bulk-ingest hit points through the native addHitPoints path.

None	deleteLiDARHitPoints (cloud_ptr, int first, int count)
	Delete hits [first, first+count), preserving the order of the rest.

None	setLiDARTriangulationSink (cloud_ptr, callback)
	Register a per-scan triangulation sink.

None	setLiDARSyntheticScanHitSink (cloud_ptr, callback)
	Register a synthetic-scan chunk sink.

int	getLiDARScanHitCount (cloud_ptr, int scanID)
	Number of hit points (stored returns plus virtualized misses) belonging to one scan.

List[int]	getLiDARScanHitIndices (cloud_ptr, int scanID, int n)
	Global hit indices of one scan, in the order the per-scan readers use.

	getLiDARScanHitXYZColumn (cloud_ptr, int scanID, int n)
	Read one scan's hit positions in a single pass, as a list of (x, y, z) tuples.

List[float]	getLiDARScanHitDataColumn (cloud_ptr, int scanID, str label, int n, float absent_value=-9999.0)
	Read one scan's values of a scalar-data label as doubles.

List[float]	getLiDARScanHitDataColumnF32 (cloud_ptr, int scanID, str label, int n, float absent_value=-9999.0)
	Read one scan's values of a scalar-data label as 32-bit floats.

List[int]	getLiDARScanHitDataColumnI32 (cloud_ptr, int scanID, str label, int n, int absent_value=-9999)
	Read one scan's values of a scalar-data label as 32-bit ints.

	_ijk_array (ijk, str name)
	Marshal a 3-element lattice index into a c_int[3].

None	calculateLiDARLeafAreaBlock (cloud_ptr, context_ptr, int min_voxel_hits, float element_width, ijk_min, ijk_max)
	Calculate leaf area for only a block of the voxel grid (triangulation supplies G(theta)).

None	calculateLiDARLeafAreaGthetaBlock (cloud_ptr, context_ptr, float Gtheta, int min_voxel_hits, float element_width, ijk_min, ijk_max)
	Calculate leaf area for a block of the grid with a caller-supplied G(theta).

None	calculateLiDARLeafAreaGthetaPerCellBlock (cloud_ptr, context_ptr, List[float] Gtheta_per_cell, int min_voxel_hits, float element_width, ijk_min, ijk_max)
	Calculate leaf area for a block of the grid with one G(theta) per grid cell.

Tuple[int, int, int]	getLiDARCellGlobalIJK (cloud_ptr, int index)
	Lattice index (i, j, k) of a grid cell.

Tuple[int, int, int]	getLiDARGridGlobalCount (cloud_ptr)
	Number of lattice cells (nx, ny, nz); raises if the grid is empty or irregular.

int	getLiDARHitPointCapacity (cloud_ptr)
	Number of hit points the cloud can hold before its arrays reallocate.

Variables
	LiDARProgressCallback = ctypes.CFUNCTYPE(None, ctypes.c_float, ctypes.c_char_p)

	LiDARTriangulationSinkCallback

	LiDARSyntheticScanHitSinkCallback

	argtypes

	restype

	errcheck

bool	_LIDAR_FUNCTIONS_AVAILABLE

bool	_LIDAR_1384_AVAILABLE

bool	_LIDAR_1385_AVAILABLE

bool	_LIDAR_1386_AVAILABLE

bool	_LIDAR_CROPPED_RETURNS_AVAILABLE

	createLiDARcloud () = mock_createLiDARcloud
	Create LiDARcloud instance.

	addLiDARScan = mock_lidar_operation

	addLiDARHitPoint = mock_lidar_operation

tuple	_CROPPED_RETURN_STATS_FIELDS

Function Documentation

◆ _check_error()

pyhelios.wrappers.ULiDARWrapper._check_error	(	result,
		func,
		args )

protected

Automatic error checking for all LiDAR functions.

Definition at line 25 of file ULiDARWrapper.py.

◆ _ijk_array()

pyhelios.wrappers.ULiDARWrapper._ijk_array	(		ijk,
		str	name )

protected

Marshal a 3-element lattice index into a c_int[3].

Definition at line 3126 of file ULiDARWrapper.py.

◆ _require_lidar_1384()

None pyhelios.wrappers.ULiDARWrapper._require_lidar_1384 ( )

protected

Raise if the native library predates the helios-core 1.3.84 LiDAR additions.

Definition at line 2722 of file ULiDARWrapper.py.

◆ _require_lidar_1385()

None pyhelios.wrappers.ULiDARWrapper._require_lidar_1385 ( )

protected

Raise if the native library predates the helios-core 1.3.85 LiDAR additions.

Definition at line 2867 of file ULiDARWrapper.py.

◆ _require_lidar_1386()

None pyhelios.wrappers.ULiDARWrapper._require_lidar_1386 ( )

protected

Raise if the native library predates the helios-core 1.3.86 LiDAR additions.

Definition at line 2905 of file ULiDARWrapper.py.

◆ addLiDARGrid()

None pyhelios.wrappers.ULiDARWrapper.addLiDARGrid	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	center,
		List[float]	size,
		List[int]	ndiv,
		float	rotation )

Add a rectangular grid of voxel cells.

Definition at line 2220 of file ULiDARWrapper.py.

◆ addLiDARGridCell()

None pyhelios.wrappers.ULiDARWrapper.addLiDARGridCell	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	center,
		List[float]	size,
		float	rotation )

Add a single grid cell.

Definition at line 2268 of file ULiDARWrapper.py.

◆ addLiDARGridTerrainFollowing()

None pyhelios.wrappers.ULiDARWrapper.addLiDARGridTerrainFollowing	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	center,
		List[float]	size,
		List[int]	ndiv,
		float	rotation,
		List[float]	column_z_offsets )

Add a rectangular grid of voxel cells with per-column vertical offsets.

Definition at line 2239 of file ULiDARWrapper.py.

◆ addLiDARHitPoint()

None pyhelios.wrappers.ULiDARWrapper.addLiDARHitPoint	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		List[float]	xyz,
		List[float]	direction )

Add a hit point to the cloud.

Definition at line 1764 of file ULiDARWrapper.py.

◆ addLiDARHitPointRGB()

None pyhelios.wrappers.ULiDARWrapper.addLiDARHitPointRGB	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		List[float]	xyz,
		List[float]	direction,
		List[float]	color )

Add a hit point with color to the cloud.

Definition at line 1780 of file ULiDARWrapper.py.

◆ addLiDARHitPoints()

None pyhelios.wrappers.ULiDARWrapper.addLiDARHitPoints	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
			xyzs,
			directions,
		int	count,
			colors = None )

Add many hit points to the cloud in a single call (bulk ingestion).

xyzs and directions must be contiguous float32 buffers (e.g. numpy arrays) of shape (count, 3). colors, if given, must be a contiguous float32 buffer of shape (count, 3); pass None to add without color. The buffers are passed straight through to C without per-point Python marshalling.

Definition at line 1805 of file ULiDARWrapper.py.

◆ addLiDARHitPointsBulk()

None pyhelios.wrappers.ULiDARWrapper.addLiDARHitPointsBulk	(		cloud_ptr,
		int	scanID,
			xyz,
			dir_spherical = None,
		Optional[List[str]]	labels = None,
			values = None )

Bulk-ingest hit points through the native addHitPoints path.

xyz is an (n, 3) float64 array. dir_spherical is an (n, 3) float32 array of (radius, elevation, azimuth), or None to derive each direction from the point's position relative to the scan origin. values is (n, len(labels)) float64.

Definition at line 2986 of file ULiDARWrapper.py.

◆ addLiDARHitPointsWithData()

None pyhelios.wrappers.ULiDARWrapper.addLiDARHitPointsWithData	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
			xyzs,
			directions,
		int	count,
			colors = None,
			labels = None,
			data_values = None )

Bulk-ingest hit points carrying a per-hit data map in one call.

xyzs/directions (and colors, if given) must be contiguous float32 buffers of shape (count, 3); directions is (radius, elevation, azimuth). labels is a list of data-map key names; data_values must be a contiguous float64 buffer of shape (count, len(labels)). Pass labels=None/empty (and data_values=None) to ingest with an empty data map.

Definition at line 1824 of file ULiDARWrapper.py.

◆ addLiDARScan()

int pyhelios.wrappers.ULiDARWrapper.addLiDARScan	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	origin,
		int	Ntheta,
		Tuple[float, float]	theta_range,
		int	Nphi,
		Tuple[float, float]	phi_range,
		float	exit_diameter,
		float	beam_divergence,
		Optional[List[str]]	column_format = None,
		float	range_noise_stddev = 0.0,
		float	angle_noise_stddev = 0.0,
		float	scan_tilt_roll = 0.0,
		float	scan_tilt_pitch = 0.0,
		float	scan_azimuth_offset = 0.0 )

Add a LiDAR scan to the point cloud.

Definition at line 1216 of file ULiDARWrapper.py.

◆ addLiDARScanMoving()

int pyhelios.wrappers.ULiDARWrapper.addLiDARScanMoving	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	Ntheta,
		Tuple[float, float]	theta_range,
		int	Nphi,
		Tuple[float, float]	phi_range,
		float	exit_diameter,
		float	beam_divergence,
		List[float]	traj_t,
		List[List[float]]	traj_pos,
		List[List[float]]	traj_rot,
		bool	rot_is_quaternion,
		float	pulse_rate_hz,
		Optional[List[float]]	lever_arm = None,
		Optional[List[float]]	boresight_rpy = None,
		Optional[List[str]]	column_format = None,
		float	range_noise_stddev = 0.0,
		float	angle_noise_stddev = 0.0,
		float	t0 = 0.0 )

Add a moving-platform (mobile/airborne) raster LiDAR scan driven by a 6-DOF pose trajectory.

traj_rot entries are length-4 quaternions (qx,qy,qz,qw) if rot_is_quaternion is True, otherwise length-3 roll/pitch/yaw Euler angles (radians, intrinsic Z-Y-X).

Definition at line 1255 of file ULiDARWrapper.py.

◆ addLiDARScanMovingRaster()

int pyhelios.wrappers.ULiDARWrapper.addLiDARScanMovingRaster	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	Ntheta,
		Tuple[float, float]	theta_range,
		int	Nphi,
		Tuple[float, float]	phi_range,
		float	pulse_rate_hz,
		List[float]	traj_t,
		List[List[float]]	traj_pos,
		List[List[float]]	traj_quat,
		float	exit_diameter = 0.0,
		float	beam_divergence = 0.0,
		Optional[List[float]]	lever_arm = None,
		Optional[List[float]]	boresight_rpy = None,
		Optional[List[str]]	column_format = None,
		float	range_noise_stddev = 0.0,
		float	angle_noise_stddev = 0.0,
		float	t0 = 0.0 )

Add a moving-platform raster scan: a fixed angular fan swept along a quaternion trajectory.

traj_quat entries are length-4 quaternions (qx,qy,qz,qw), Hamilton body->world.

Definition at line 1399 of file ULiDARWrapper.py.

◆ addLiDARScanRisley()

int pyhelios.wrappers.ULiDARWrapper.addLiDARScanRisley	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[List[float]]	prisms,
		float	refractive_index_air,
		float	pulse_rate_hz,
		List[float]	traj_t,
		List[List[float]]	traj_pos,
		List[List[float]]	traj_rot,
		bool	rot_is_quaternion,
		float	exit_diameter = 0.0,
		float	beam_divergence = 0.0,
		Optional[List[float]]	lever_arm = None,
		Optional[List[float]]	boresight_rpy = None,
		Optional[List[str]]	column_format = None,
		float	range_noise_stddev = 0.0,
		float	angle_noise_stddev = 0.0,
		float	t0 = 0.0 )

Add a rotating-Risley-prism (Livox-style rosette) scan from physical instrument parameters.

prisms is a list of 4-element [wedge_angle, refractive_index, rotor_rate, phase] entries in beam-traversal order (at least one). traj_rot entries are length-4 quaternions (qx,qy,qz,qw) if rot_is_quaternion is True, otherwise length-3 roll/pitch/yaw Euler angles (radians).

Definition at line 1465 of file ULiDARWrapper.py.

◆ addLiDARScanSpinning()

int pyhelios.wrappers.ULiDARWrapper.addLiDARScanSpinning	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	beam_elevation_angles,
		float	azimuth_step_rad,
		float	pulse_rate_hz,
		List[float]	traj_t,
		List[List[float]]	traj_pos,
		List[List[float]]	traj_rot,
		bool	rot_is_quaternion,
		float	exit_diameter = 0.0,
		float	beam_divergence = 0.0,
		Optional[List[float]]	lever_arm = None,
		Optional[List[float]]	boresight_rpy = None,
		Optional[List[str]]	column_format = None,
		float	range_noise_stddev = 0.0,
		float	angle_noise_stddev = 0.0,
		float	t0 = 0.0 )

Add a continuously-spinning multibeam scan from physical instrument parameters.

beam_elevation_angles are per-channel ELEVATION angles above the horizon (radians), NOT zenith. traj_rot entries are length-4 quaternions (qx,qy,qz,qw) if rot_is_quaternion is True, otherwise length-3 roll/pitch/yaw Euler angles (radians, intrinsic Z-Y-X).

Definition at line 1325 of file ULiDARWrapper.py.

◆ addLiDARTrianglesToContext()

None pyhelios.wrappers.ULiDARWrapper.addLiDARTrianglesToContext	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Add triangulated mesh to Context as primitives.

Definition at line 2652 of file ULiDARWrapper.py.

◆ calculateLiDARHitGridCell()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARHitGridCell ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Calculate hit point grid cell assignments.

Definition at line 2342 of file ULiDARWrapper.py.

◆ calculateLiDARLeafArea()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafArea	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Calculate leaf area for each grid cell.

Definition at line 2478 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaBlock()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaBlock	(		cloud_ptr,
			context_ptr,
		int	min_voxel_hits,
		float	element_width,
			ijk_min,
			ijk_max )

Calculate leaf area for only a block of the voxel grid (triangulation supplies G(theta)).

Definition at line 3134 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaGtheta()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaGtheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		float	Gtheta,
		int	min_voxel_hits,
		float	element_width )

Calculate leaf area using a caller-supplied G(theta), without requiring triangulation.

Suitable for moving-platform scans (which cannot be triangulated). Gtheta must be in (0,1] (0.5 = spherical leaf-angle distribution).

Definition at line 2509 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaGthetaBlock()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaGthetaBlock	(		cloud_ptr,
			context_ptr,
		float	Gtheta,
		int	min_voxel_hits,
		float	element_width,
			ijk_min,
			ijk_max )

Calculate leaf area for a block of the grid with a caller-supplied G(theta).

Definition at line 3144 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaGthetaPerCell()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaGthetaPerCell	(		cloud_ptr,
			context_ptr,
		List[float]	Gtheta_per_cell,
		int	min_voxel_hits,
		float	element_width )

Calculate leaf area with one caller-supplied G(theta) per grid cell, without triangulation.

Gtheta_per_cell must have one entry per grid cell, in grid-cell order, every value in (0,1].

Definition at line 2886 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaGthetaPerCellBlock()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaGthetaPerCellBlock	(		cloud_ptr,
			context_ptr,
		List[float]	Gtheta_per_cell,
		int	min_voxel_hits,
		float	element_width,
			ijk_min,
			ijk_max )

Calculate leaf area for a block of the grid with one G(theta) per grid cell.

Gtheta_per_cell covers the whole grid, not just the block.

Definition at line 3158 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaMinHits()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaMinHits	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		int	min_voxel_hits )

Calculate leaf area with minimum voxel hits threshold.

Definition at line 2486 of file ULiDARWrapper.py.

◆ calculateLiDARLeafAreaUncertainty()

None pyhelios.wrappers.ULiDARWrapper.calculateLiDARLeafAreaUncertainty	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		int	min_voxel_hits,
		float	element_width )

Calculate leaf area plus per-voxel sampling uncertainty (Pimont et al.

2018)

Definition at line 2495 of file ULiDARWrapper.py.

◆ calculateSyntheticLiDARGtheta()

None pyhelios.wrappers.ULiDARWrapper.calculateSyntheticLiDARGtheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Calculate synthetic G(theta) for validation.

Definition at line 2644 of file ULiDARWrapper.py.

◆ calculateSyntheticLiDARLeafArea()

None pyhelios.wrappers.ULiDARWrapper.calculateSyntheticLiDARLeafArea	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Calculate synthetic leaf area for validation.

Definition at line 2636 of file ULiDARWrapper.py.

◆ createLiDARHitDataColumn()

None pyhelios.wrappers.ULiDARWrapper.createLiDARHitDataColumn	(		cloud_ptr,
		str	label,
		int	type_code )

Create a per-hit scalar-data column with an explicit storage type.

type_code is the HitDataType ABI integer: 0=FLOAT64, 1=FLOAT32, 2=INT32.

Definition at line 2918 of file ULiDARWrapper.py.

◆ deleteLiDARHitPoint()

None pyhelios.wrappers.ULiDARWrapper.deleteLiDARHitPoint	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Delete a hit point from the cloud.

Definition at line 2028 of file ULiDARWrapper.py.

◆ deleteLiDARHitPoints()

None pyhelios.wrappers.ULiDARWrapper.deleteLiDARHitPoints	(		cloud_ptr,
		int	first,
		int	count )

Delete hits [first, first+count), preserving the order of the rest.

Definition at line 3028 of file ULiDARWrapper.py.

◆ destroyLiDARcloud()

None pyhelios.wrappers.ULiDARWrapper.destroyLiDARcloud ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Destroy LiDARcloud instance.

Definition at line 1210 of file ULiDARWrapper.py.

◆ disableLiDARCDGPUAcceleration()

None pyhelios.wrappers.ULiDARWrapper.disableLiDARCDGPUAcceleration ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Disable GPU acceleration for collision detection.

Definition at line 2675 of file ULiDARWrapper.py.

◆ doesLiDARHitDataExist()

bool pyhelios.wrappers.ULiDARWrapper.doesLiDARHitDataExist	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index,
		str	label )

Check whether a named scalar data value exists for a hit point.

Definition at line 1906 of file ULiDARWrapper.py.

◆ enableLiDARCDGPUAcceleration()

None pyhelios.wrappers.ULiDARWrapper.enableLiDARCDGPUAcceleration ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Enable GPU acceleration for collision detection.

Definition at line 2668 of file ULiDARWrapper.py.

◆ estimateLiDARHitPointMemory()

int pyhelios.wrappers.ULiDARWrapper.estimateLiDARHitPointMemory	(		cloud_ptr,
		int	hit_count )

Estimated resident bytes for a cloud of hit_count points.

Definition at line 2819 of file ULiDARWrapper.py.

◆ exportLiDARGtheta()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARGtheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export G(theta) values for each grid cell.

Definition at line 2608 of file ULiDARWrapper.py.

◆ exportLiDARLeafAreaDensities()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARLeafAreaDensities	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export leaf area densities for each grid cell.

Definition at line 2601 of file ULiDARWrapper.py.

◆ exportLiDARLeafAreas()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARLeafAreas	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export leaf areas for each grid cell.

Definition at line 2594 of file ULiDARWrapper.py.

◆ exportLiDARLeafAreaUncertainty()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARLeafAreaUncertainty	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export per-voxel leaf-area sampling uncertainty to a self-describing ASCII file.

Definition at line 2185 of file ULiDARWrapper.py.

◆ exportLiDARPointCloud()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARPointCloud	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename,
		bool	write_header = True )

Export point cloud to ASCII file (optionally with a '#'-prefixed column header)

Definition at line 2177 of file ULiDARWrapper.py.

◆ exportLiDARScans()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARScans	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export all scans to an XML metadata file plus one ASCII data file per scan.

Definition at line 2192 of file ULiDARWrapper.py.

◆ exportLiDARTriangleAreas()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARTriangleAreas	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export triangle areas.

Definition at line 2587 of file ULiDARWrapper.py.

◆ exportLiDARTriangleNormals()

None pyhelios.wrappers.ULiDARWrapper.exportLiDARTriangleNormals	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Export triangle normal vectors.

Definition at line 2580 of file ULiDARWrapper.py.

◆ gapfillLiDARMisses()

None pyhelios.wrappers.ULiDARWrapper.gapfillLiDARMisses ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Gapfill sky/miss points.

Definition at line 2629 of file ULiDARWrapper.py.

◆ gapfillLiDARMissesCount()

int pyhelios.wrappers.ULiDARWrapper.gapfillLiDARMissesCount ( cloud_ptr )

Gapfill every scan, returning only the number of points added.

Definition at line 2732 of file ULiDARWrapper.py.

◆ gapfillLiDARMissesCountScan()

int pyhelios.wrappers.ULiDARWrapper.gapfillLiDARMissesCountScan	(		cloud_ptr,
		int	scanID,
		bool	gapfill_grid_only,
		bool	add_flags )

Gapfill one scan, returning only the number of points added.

Definition at line 2738 of file ULiDARWrapper.py.

◆ getLiDARCellBeamCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARCellBeamCount	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the beam count N entering a grid cell (-1 if calculateLeafArea not run).

Definition at line 2519 of file ULiDARWrapper.py.

◆ getLiDARCellCenter()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARCellCenter	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get center position of a grid cell.

Definition at line 2291 of file ULiDARWrapper.py.

◆ getLiDARCellCenterUnrotated()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARCellCenterUnrotated	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the UNROTATED (axis-aligned lattice) center position of a grid cell.

Definition at line 2301 of file ULiDARWrapper.py.

◆ getLiDARCellGlobalIJK()

Tuple[int, int, int] pyhelios.wrappers.ULiDARWrapper.getLiDARCellGlobalIJK	(		cloud_ptr,
		int	index )

Lattice index (i, j, k) of a grid cell.

Definition at line 3173 of file ULiDARWrapper.py.

◆ getLiDARCellGtheta()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellGtheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get G(theta) value for a grid cell.

Definition at line 2615 of file ULiDARWrapper.py.

◆ getLiDARCellLADVariance()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellLADVariance	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the per-voxel LAD sampling variance (-1 if unavailable).

Definition at line 2540 of file ULiDARWrapper.py.

◆ getLiDARCellLeafArea()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellLeafArea	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get leaf area of a grid cell.

Definition at line 2328 of file ULiDARWrapper.py.

◆ getLiDARCellLeafAreaConfidenceInterval()

pyhelios.wrappers.ULiDARWrapper.getLiDARCellLeafAreaConfidenceInterval	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index,
		float	confidence_level = 0.95 )

Single-voxel leaf-area confidence interval.

Returns (valid, lower, upper). valid is False when the interval is gated out by the Pimont validity envelope (the bounds are then not trustworthy).

Definition at line 2551 of file ULiDARWrapper.py.

◆ getLiDARCellLeafAreaDensity()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellLeafAreaDensity	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get leaf area density of a grid cell.

Definition at line 2335 of file ULiDARWrapper.py.

◆ getLiDARCellMeanPathLength()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellMeanPathLength	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the mean beam path length (m) through a grid cell.

Definition at line 2533 of file ULiDARWrapper.py.

◆ getLiDARCellRelativeDensityIndex()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellRelativeDensityIndex	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the relative density index I_rdi for a grid cell.

Definition at line 2526 of file ULiDARWrapper.py.

◆ getLiDARCellRotation()

float pyhelios.wrappers.ULiDARWrapper.getLiDARCellRotation	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get azimuthal rotation of a grid cell about the z-axis, in degrees.

Definition at line 2321 of file ULiDARWrapper.py.

◆ getLiDARCellSize()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARCellSize	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get size of a grid cell.

Definition at line 2311 of file ULiDARWrapper.py.

◆ getLiDARCroppedReturnStats()

dict pyhelios.wrappers.ULiDARWrapper.getLiDARCroppedReturnStats ( cloud_ptr )

Returns the last leaf-area inversion inferred from target_count, as a dict of counts.

Definition at line 2763 of file ULiDARWrapper.py.

◆ getLiDARDefaultMaxHitPoints()

int pyhelios.wrappers.ULiDARWrapper.getLiDARDefaultMaxHitPoints ( )

Default cap on the number of stored hit points in a cloud.

Definition at line 2837 of file ULiDARWrapper.py.

◆ getLiDARExactPathLengths()

bool pyhelios.wrappers.ULiDARWrapper.getLiDARExactPathLengths ( cloud_ptr )

Whether path lengths are accumulated exactly.

Definition at line 2855 of file ULiDARWrapper.py.

◆ getLiDARGridCellCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARGridCellCount ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Get number of grid cells.

Definition at line 2284 of file ULiDARWrapper.py.

◆ getLiDARGridGlobalCount()

Tuple[int, int, int] pyhelios.wrappers.ULiDARWrapper.getLiDARGridGlobalCount ( cloud_ptr )

Number of lattice cells (nx, ny, nz); raises if the grid is empty or irregular.

Definition at line 3181 of file ULiDARWrapper.py.

◆ getLiDARGroupLADConfidenceInterval()

pyhelios.wrappers.ULiDARWrapper.getLiDARGroupLADConfidenceInterval	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[int]	indices,
		float	confidence_level = 0.95 )

Group-scale LAD confidence interval over a set of cells (recommended path).

Returns (valid, mean_lad, lower, upper).

Definition at line 2565 of file ULiDARWrapper.py.

◆ getLiDARHitColor()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitColor	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get color of a hit point.

Definition at line 1889 of file ULiDARWrapper.py.

◆ getLiDARHitCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARHitCount ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Get total number of hit points.

Definition at line 1848 of file ULiDARWrapper.py.

◆ getLiDARHitData()

float pyhelios.wrappers.ULiDARWrapper.getLiDARHitData	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index,
		str	label )

Get a named scalar data value for a hit point.

Definition at line 1913 of file ULiDARWrapper.py.

◆ getLiDARHitData_all()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitData_all	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	label,
		int	n )

Bulk-export a named scalar data value for all hit points in one call.

Definition at line 1920 of file ULiDARWrapper.py.

◆ getLiDARHitData_all_np()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitData_all_np	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	label,
		int	n )

Bulk-export a named scalar field for all hits as an (n,) float32 numpy array (NaN where the label is absent for a hit).

Definition at line 1963 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumn()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumn	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Bulk-export a named scalar column via the native cache-linear columnar path.

Faster than getLiDARHitData_all for whole-field reads (single cache-linear pass over the contiguous native column). Entries are absent_value where the label is absent for a hit. Returns a list of doubles of length min(n, hit count).

Definition at line 1978 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumn_np()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumn_np	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Bulk-export a named scalar column as an (n,) float64 numpy array via the columnar path (absent_value where the label is absent for a hit).

Definition at line 1997 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumnF32()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumnF32	(		cloud_ptr,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Bulk-export a named scalar column as 32-bit floats (no widening of a FLOAT32 column).

Definition at line 2930 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumnF32_np()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumnF32_np	(		cloud_ptr,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Bulk-export a named scalar column as an (n,) float32 numpy array.

Definition at line 2942 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumnI32()

List[int] pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumnI32	(		cloud_ptr,
		str	label,
		int	n,
		int	absent_value = -9999 )

Bulk-export a named scalar column as 32-bit ints.

Raises if any value is not a 32-bit integer; read such a label as doubles instead.

Definition at line 2957 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumnI32_np()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumnI32_np	(		cloud_ptr,
		str	label,
		int	n,
		int	absent_value = -9999 )

Bulk-export a named scalar column as an (n,) int32 numpy array.

Definition at line 2969 of file ULiDARWrapper.py.

◆ getLiDARHitDataColumnIndex()

int pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataColumnIndex	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	label )

Get the internal column slot index for a hit-data label (-1 if never set on any hit).

Definition at line 1989 of file ULiDARWrapper.py.

◆ getLiDARHitDataType()

int pyhelios.wrappers.ULiDARWrapper.getLiDARHitDataType	(		cloud_ptr,
		str	label )

Storage type of an existing column as the HitDataType ABI integer (raises if unknown).

Definition at line 2924 of file ULiDARWrapper.py.

◆ getLiDARHitOrigin()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitOrigin	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the (x,y,z) beam-emission origin of a hit point.

For moving-platform scans this is the per-pulse origin; for static scans it falls back to the single scan origin of the hit's scan.

Definition at line 1869 of file ULiDARWrapper.py.

◆ getLiDARHitPointCapacity()

int pyhelios.wrappers.ULiDARWrapper.getLiDARHitPointCapacity ( cloud_ptr )

Number of hit points the cloud can hold before its arrays reallocate.

Definition at line 3189 of file ULiDARWrapper.py.

◆ getLiDARHitRaydir()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitRaydir	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get ray direction of a hit point.

Definition at line 1879 of file ULiDARWrapper.py.

◆ getLiDARHitScanID()

int pyhelios.wrappers.ULiDARWrapper.getLiDARHitScanID	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get the scan ID a hit point belongs to.

Definition at line 1899 of file ULiDARWrapper.py.

◆ getLiDARHitScanID_all()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitScanID_all	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	n )

Bulk-export the scan ID of every hit as an (n,) int32 numpy array.

Definition at line 2008 of file ULiDARWrapper.py.

◆ getLiDARHitScanIDColumn()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitScanIDColumn	(		cloud_ptr,
		int	count )

Read every hit's scan ID in index order in one pass.

Definition at line 2809 of file ULiDARWrapper.py.

◆ getLiDARHitsXYZRGB_all()

Tuple[List[float], List[float]] pyhelios.wrappers.ULiDARWrapper.getLiDARHitsXYZRGB_all	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	n )

Bulk-export XYZ coordinates and RGB colors for all hit points in one call.

Returns a tuple (xyz_flat, rgb_flat) of flat 3*n-element lists.

Definition at line 1933 of file ULiDARWrapper.py.

◆ getLiDARHitsXYZRGB_all_np()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitsXYZRGB_all_np	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	n )

Bulk-export XYZ + RGB for all hits as numpy arrays (no per-element Python).

Returns (xyz, rgb), each an (n, 3) float32 array. Much faster than the list-returning variant for million-point clouds — np.frombuffer copies the contiguous ctypes buffer in one shot.

Definition at line 1949 of file ULiDARWrapper.py.

◆ getLiDARHitXYZ()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARHitXYZ	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Get coordinates of a hit point.

Definition at line 1855 of file ULiDARWrapper.py.

◆ getLiDARHitXYZColumn()

pyhelios.wrappers.ULiDARWrapper.getLiDARHitXYZColumn	(		cloud_ptr,
		int	count )

Read every hit's position in index order in one pass.

Definition at line 2799 of file ULiDARWrapper.py.

◆ getLiDARMaxHitPoints()

int pyhelios.wrappers.ULiDARWrapper.getLiDARMaxHitPoints ( cloud_ptr )

Current cap on stored hit points.

Definition at line 2831 of file ULiDARWrapper.py.

◆ getLiDARMissDistance()

float pyhelios.wrappers.ULiDARWrapper.getLiDARMissDistance ( )

Return the LIDAR_MISS_DISTANCE constant (meters).

Definition at line 1712 of file ULiDARWrapper.py.

◆ getLiDARScanAngleNoiseStdDev()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanAngleNoiseStdDev	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the angular (beam-pointing) jitter standard deviation for a scan (radians)

Definition at line 1757 of file ULiDARWrapper.py.

◆ getLiDARScanAzimuthOffset()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanAzimuthOffset	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the global scanner azimuth (heading) offset angle (radians) for a scan.

Definition at line 1672 of file ULiDARWrapper.py.

◆ getLiDARScanBeamZenithAngles()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARScanBeamZenithAngles	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the per-channel beam zenith angles (radians) for a multibeam scan (empty for raster).

Definition at line 1686 of file ULiDARWrapper.py.

◆ getLiDARScanCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanCount ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Get number of scans in the cloud.

Definition at line 1719 of file ULiDARWrapper.py.

◆ getLiDARScanDetectionThreshold()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanDetectionThreshold	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the detection threshold (energy fraction, noise floor) of a scan.

Definition at line 1644 of file ULiDARWrapper.py.

◆ getLiDARScanGridDirection()

pyhelios.wrappers.ULiDARWrapper.getLiDARScanGridDirection	(		cloud_ptr,
		int	scanID,
		int	row,
		int	column )

Beam direction at a scan-grid cell as (radius, elevation, azimuth).

Definition at line 2788 of file ULiDARWrapper.py.

◆ getLiDARScanHitCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitCount	(		cloud_ptr,
		int	scanID )

Number of hit points (stored returns plus virtualized misses) belonging to one scan.

Definition at line 3057 of file ULiDARWrapper.py.

◆ getLiDARScanHitDataColumn()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitDataColumn	(		cloud_ptr,
		int	scanID,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Read one scan's values of a scalar-data label as doubles.

Definition at line 3085 of file ULiDARWrapper.py.

◆ getLiDARScanHitDataColumnF32()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitDataColumnF32	(		cloud_ptr,
		int	scanID,
		str	label,
		int	n,
		float	absent_value = -9999.0 )

Read one scan's values of a scalar-data label as 32-bit floats.

Definition at line 3098 of file ULiDARWrapper.py.

◆ getLiDARScanHitDataColumnI32()

List[int] pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitDataColumnI32	(		cloud_ptr,
		int	scanID,
		str	label,
		int	n,
		int	absent_value = -9999 )

Read one scan's values of a scalar-data label as 32-bit ints.

Definition at line 3111 of file ULiDARWrapper.py.

◆ getLiDARScanHitIndices()

List[int] pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitIndices	(		cloud_ptr,
		int	scanID,
		int	n )

Global hit indices of one scan, in the order the per-scan readers use.

Definition at line 3063 of file ULiDARWrapper.py.

◆ getLiDARScanHitXYZColumn()

pyhelios.wrappers.ULiDARWrapper.getLiDARScanHitXYZColumn	(		cloud_ptr,
		int	scanID,
		int	n )

Read one scan's hit positions in a single pass, as a list of (x, y, z) tuples.

Definition at line 3074 of file ULiDARWrapper.py.

◆ getLiDARScanMaxReturns()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanMaxReturns	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the maximum returns per pulse used in single/limited-return mode.

Definition at line 1616 of file ULiDARWrapper.py.

◆ getLiDARScanMode()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanMode	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the acquisition mode (0 = static raster, 1 = moving raster, 2 = spinning, 3 = Risley prism).

Definition at line 1537 of file ULiDARWrapper.py.

◆ getLiDARScanOrigin()

List[float] pyhelios.wrappers.ULiDARWrapper.getLiDARScanOrigin	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get origin of a specific scan.

Definition at line 1726 of file ULiDARWrapper.py.

◆ getLiDARScanPattern()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanPattern	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the scan pattern (0 = raster, 1 = spinning multibeam).

Definition at line 1679 of file ULiDARWrapper.py.

◆ getLiDARScanPulseWidth()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanPulseWidth	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the pulse width / range resolution (meters) of a scan (0 = use syntheticScan argument).

Definition at line 1630 of file ULiDARWrapper.py.

◆ getLiDARScanRangeNoiseStdDev()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanRangeNoiseStdDev	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the range (along-beam) measurement noise standard deviation for a scan (meters)

Definition at line 1750 of file ULiDARWrapper.py.

◆ getLiDARScanReturnMode()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanReturnMode	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the return-reporting mode (0 = multi, 1 = single).

Definition at line 1588 of file ULiDARWrapper.py.

◆ getLiDARScanRevolutions()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanRevolutions	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the number of revolutions the sensor head made (spinning scans; 0 otherwise).

Definition at line 1558 of file ULiDARWrapper.py.

◆ getLiDARScanRisleyPrisms()

List[List[float]] pyhelios.wrappers.ULiDARWrapper.getLiDARScanRisleyPrisms	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the rotating wedge prisms of a Risley-prism scan.

Returns a list of [wedge_angle, refractive_index, rotor_rate, phase] entries in beam-traversal order (empty for scans that are not Risley-prism).

Definition at line 1568 of file ULiDARWrapper.py.

◆ getLiDARScanRisleyRefractiveIndexAir()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanRisleyRefractiveIndexAir	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the refractive index of the medium surrounding the prisms of a Risley-prism scan (1.0 for non-Risley).

Definition at line 1581 of file ULiDARWrapper.py.

◆ getLiDARScanRotationRate()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanRotationRate	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the sensor-head rotation rate in revolutions/second (spinning scans; 0 otherwise).

Definition at line 1551 of file ULiDARWrapper.py.

◆ getLiDARScanSingleReturnSelection()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanSingleReturnSelection	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the single/limited-return selection policy (0 = strongest, 1 = first, 2 = last, 3 = strongest+last).

Definition at line 1602 of file ULiDARWrapper.py.

◆ getLiDARScanSizePhi()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanSizePhi	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get number of azimuthal scan points.

Definition at line 1743 of file ULiDARWrapper.py.

◆ getLiDARScanSizeTheta()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanSizeTheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get number of zenith scan points.

Definition at line 1736 of file ULiDARWrapper.py.

◆ getLiDARScanStepsPerRev()

int pyhelios.wrappers.ULiDARWrapper.getLiDARScanStepsPerRev	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the number of azimuth firing steps per revolution (spinning scans; 0 otherwise).

Definition at line 1544 of file ULiDARWrapper.py.

◆ getLiDARScanTiltPitch()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanTiltPitch	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the global scanner tilt pitch angle (radians) for a scan.

Definition at line 1665 of file ULiDARWrapper.py.

◆ getLiDARScanTiltRoll()

float pyhelios.wrappers.ULiDARWrapper.getLiDARScanTiltRoll	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID )

Get the global scanner tilt roll angle (radians) for a scan.

Definition at line 1658 of file ULiDARWrapper.py.

◆ getLiDARSyntheticScanMemoryBudget()

int pyhelios.wrappers.ULiDARWrapper.getLiDARSyntheticScanMemoryBudget ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Get the soft memory budget (bytes) for syntheticScan's transient buffers.

Returns the explicitly configured budget, or 0 if using the automatic path-dependent default (4 GiB CPU / 8 GiB GPU).

Definition at line 2391 of file ULiDARWrapper.py.

◆ getLiDARTriangleCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARTriangleCount ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Get number of triangles in the mesh.

Definition at line 2067 of file ULiDARWrapper.py.

◆ getLiDARTriangleVertices_all()

pyhelios.wrappers.ULiDARWrapper.getLiDARTriangleVertices_all	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	tri_count )

Bulk-export every triangle's vertices (and source scan) in one call.

Returns (xyz_flat, scan_ids) as numpy arrays: xyz_flat is (tri_count*9,) float32 laid out [v0x,v0y,v0z, v1x,v1y,v1z, v2x,v2y,v2z] per triangle, and scan_ids is (tri_count,) int32. Returns empty arrays when tri_count is 0.

Definition at line 2100 of file ULiDARWrapper.py.

◆ getLiDARTriangulationStats()

dict pyhelios.wrappers.ULiDARWrapper.getLiDARTriangulationStats ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Filter diagnostics from the most recent triangulateHitPoints() call.

Returns a dict with candidate/dropped counts. Each dropped triangle is attributed to one primary reason, so: candidates == kept + dropped_lmax + dropped_aspect + dropped_degenerate where kept equals getLiDARTriangleCount(). All zero if triangulation has not been run.

Definition at line 2081 of file ULiDARWrapper.py.

◆ getLiDARVirtualMissCount()

int pyhelios.wrappers.ULiDARWrapper.getLiDARVirtualMissCount ( cloud_ptr )

Number of gap-filled misses currently held in virtualized form.

Definition at line 2748 of file ULiDARWrapper.py.

◆ hasLiDARVirtualMisses()

bool pyhelios.wrappers.ULiDARWrapper.hasLiDARVirtualMisses ( cloud_ptr )

Whether any gap-filled miss is currently held in virtualized form.

Definition at line 2776 of file ULiDARWrapper.py.

◆ initializeLiDARCollisionDetection()

None pyhelios.wrappers.ULiDARWrapper.initializeLiDARCollisionDetection	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Initialize CollisionDetection for ray tracing.

Definition at line 2660 of file ULiDARWrapper.py.

◆ isLiDARGPUAccelerationEnabled()

bool pyhelios.wrappers.ULiDARWrapper.isLiDARGPUAccelerationEnabled ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Return True if GPU acceleration is currently enabled for collision detection.

Definition at line 2689 of file ULiDARWrapper.py.

◆ isLiDARGPUAvailable()

bool pyhelios.wrappers.ULiDARWrapper.isLiDARGPUAvailable ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Return True if a CUDA-capable GPU is available for collision-detection acceleration.

Definition at line 2682 of file ULiDARWrapper.py.

◆ isLiDARHitMiss()

bool pyhelios.wrappers.ULiDARWrapper.isLiDARHitMiss	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	index )

Return True if the hit is a miss (a transmitted beam that returned nothing).

Definition at line 1698 of file ULiDARWrapper.py.

◆ isLiDARHitMiss_all()

pyhelios.wrappers.ULiDARWrapper.isLiDARHitMiss_all	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	n )

Bulk-export the miss flag of every hit as an (n,) int32 numpy array (1=miss).

Definition at line 2018 of file ULiDARWrapper.py.

◆ lidarCoordinateRotation()

None pyhelios.wrappers.ULiDARWrapper.lidarCoordinateRotation	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	rotation )

Rotate all hit points by spherical rotation angles.

Definition at line 2047 of file ULiDARWrapper.py.

◆ lidarCoordinateShift()

None pyhelios.wrappers.ULiDARWrapper.lidarCoordinateShift	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		List[float]	shift )

Translate all hit points by a shift vecto.

Definition at line 2035 of file ULiDARWrapper.py.

◆ lidarDisableMessages()

None pyhelios.wrappers.ULiDARWrapper.lidarDisableMessages ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Disable console output messages.

Definition at line 2206 of file ULiDARWrapper.py.

◆ lidarDistanceFilter()

None pyhelios.wrappers.ULiDARWrapper.lidarDistanceFilter	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		float	maxdistance )

Filter hit points by maximum distance.

Definition at line 2149 of file ULiDARWrapper.py.

◆ lidarEnableMessages()

None pyhelios.wrappers.ULiDARWrapper.lidarEnableMessages ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Enable console output messages.

Definition at line 2213 of file ULiDARWrapper.py.

◆ lidarFirstHitFilter()

None pyhelios.wrappers.ULiDARWrapper.lidarFirstHitFilter ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Keep only first return hit points.

Definition at line 2163 of file ULiDARWrapper.py.

◆ lidarHasMisses()

bool pyhelios.wrappers.ULiDARWrapper.lidarHasMisses ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Return True if the cloud contains at least one miss.

Definition at line 1705 of file ULiDARWrapper.py.

◆ lidarIsMultiReturnData()

bool pyhelios.wrappers.ULiDARWrapper.lidarIsMultiReturnData ( cloud_ptr )

Whether any hit has target_count > 1 (the switch triangulateHitPoints() branches on).

Definition at line 2877 of file ULiDARWrapper.py.

◆ lidarLastHitFilter()

None pyhelios.wrappers.ULiDARWrapper.lidarLastHitFilter ( ctypes.POINTER(ULiDARcloud) cloud_ptr )

Keep only last return hit points.

Definition at line 2170 of file ULiDARWrapper.py.

◆ lidarReflectanceFilter()

None pyhelios.wrappers.ULiDARWrapper.lidarReflectanceFilter	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		float	minreflectance )

Filter hit points by minimum reflectance.

Definition at line 2156 of file ULiDARWrapper.py.

◆ lidarSetExternalTriangulation()

None pyhelios.wrappers.ULiDARWrapper.lidarSetExternalTriangulation	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
			xyz_flat,
			scan_ids,
		int	tri_count )

Replace the internal triangulation with an externally-supplied mesh.

xyz_flat is (tri_count*9,) float32 laid out [v0x,v0y,v0z, v1x,v1y,v1z, v2x,v2y,v2z] per triangle (the same layout getLiDARTriangleVertices_all exports). scan_ids is (tri_count,) int32, one required source scan per triangle. No-op when tri_count is 0.

Definition at line 2125 of file ULiDARWrapper.py.

◆ lidarTriangulateHitPoints()

None pyhelios.wrappers.ULiDARWrapper.lidarTriangulateHitPoints	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		float	Lmax,
		float	max_aspect_ratio )

Generate triangle mesh from hit points.

Definition at line 2059 of file ULiDARWrapper.py.

◆ loadLiDARXML()

None pyhelios.wrappers.ULiDARWrapper.loadLiDARXML	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		str	filename )

Load scan metadata from XML file.

Definition at line 2199 of file ULiDARWrapper.py.

◆ materializeLiDARMisses()

None pyhelios.wrappers.ULiDARWrapper.materializeLiDARMisses ( cloud_ptr )

Convert every virtualized gap-filled miss into a stored hit point.

Definition at line 2782 of file ULiDARWrapper.py.

◆ mock_createLiDARcloud()

pyhelios.wrappers.ULiDARWrapper.mock_createLiDARcloud	(	*	args,
		**	kwargs )

Definition at line 2697 of file ULiDARWrapper.py.

◆ mock_lidar_operation()

pyhelios.wrappers.ULiDARWrapper.mock_lidar_operation	(	*	args,
		**	kwargs )

Definition at line 2703 of file ULiDARWrapper.py.

◆ reserveLiDARHitPoints()

None pyhelios.wrappers.ULiDARWrapper.reserveLiDARHitPoints	(		cloud_ptr,
		int	hit_count )

Reserve capacity for hit points and every scalar-data column at once.

Definition at line 2843 of file ULiDARWrapper.py.

◆ setLiDARCancelFlag()

None pyhelios.wrappers.ULiDARWrapper.setLiDARCancelFlag	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
			flag )

Register an external cancellation flag polled during syntheticScan.

flag is a ctypes.c_int (pass by ref) that, when set non-zero from another thread, aborts the scan's ray loop mid-trace. Pass None to clear.

Definition at line 2369 of file ULiDARWrapper.py.

◆ setLiDARCellGtheta()

None pyhelios.wrappers.ULiDARWrapper.setLiDARCellGtheta	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		float	Gtheta,
		int	index )

Set G(theta) value for a grid cell.

Definition at line 2622 of file ULiDARWrapper.py.

◆ setLiDARExactPathLengths()

None pyhelios.wrappers.ULiDARWrapper.setLiDARExactPathLengths	(		cloud_ptr,
		bool	exact )

Keep every beam path length exactly, instead of binning them.

Definition at line 2849 of file ULiDARWrapper.py.

◆ setLiDARMaxHitPoints()

None pyhelios.wrappers.ULiDARWrapper.setLiDARMaxHitPoints	(		cloud_ptr,
		int	max_hits )

Set the cap on stored hit points (0 disables the check).

Definition at line 2825 of file ULiDARWrapper.py.

◆ setLiDARProgressCallback()

None pyhelios.wrappers.ULiDARWrapper.setLiDARProgressCallback	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
			callback )

Register a progress callback fired with (progress_fraction, message) during syntheticScan.

callback must be a LiDARProgressCallback ctypes instance (or None to clear). The caller is responsible for keeping the LiDARProgressCallback alive for as long as it is registered (ctypes does not hold a reference).

Definition at line 2414 of file ULiDARWrapper.py.

◆ setLiDARScanDetectionThreshold()

None pyhelios.wrappers.ULiDARWrapper.setLiDARScanDetectionThreshold	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		float	detection_threshold )

Set the detection threshold (energy fraction, noise floor) of a scan.

Definition at line 1651 of file ULiDARWrapper.py.

◆ setLiDARScanMaxReturns()

None pyhelios.wrappers.ULiDARWrapper.setLiDARScanMaxReturns	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		int	max_returns )

Set the maximum returns per pulse used in single/limited-return mode (must be >= 1).

Definition at line 1623 of file ULiDARWrapper.py.

◆ setLiDARScanPulseWidth()

None pyhelios.wrappers.ULiDARWrapper.setLiDARScanPulseWidth	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		float	pulse_width )

Set the pulse width / range resolution (meters) of a scan (0 = use syntheticScan argument).

Definition at line 1637 of file ULiDARWrapper.py.

◆ setLiDARScanReturnMode()

None pyhelios.wrappers.ULiDARWrapper.setLiDARScanReturnMode	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		int	return_mode )

Set the return-reporting mode (0 = multi, 1 = single).

Definition at line 1595 of file ULiDARWrapper.py.

◆ setLiDARScanSingleReturnSelection()

None pyhelios.wrappers.ULiDARWrapper.setLiDARScanSingleReturnSelection	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	scanID,
		int	selection )

Set the single/limited-return selection policy (0 = strongest, 1 = first, 2 = last, 3 = strongest+last).

Definition at line 1609 of file ULiDARWrapper.py.

◆ setLiDARSyntheticScanHitSink()

None pyhelios.wrappers.ULiDARWrapper.setLiDARSyntheticScanHitSink	(		cloud_ptr,
			callback )

Register a synthetic-scan chunk sink.

callback must be a LiDARSyntheticScanHitSinkCallback instance (or None to clear). The caller is responsible for keeping it alive for as long as native code holds it.

Definition at line 3050 of file ULiDARWrapper.py.

◆ setLiDARSyntheticScanMemoryBudget()

None pyhelios.wrappers.ULiDARWrapper.setLiDARSyntheticScanMemoryBudget	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		int	bytes )

Set the soft memory budget (bytes) for syntheticScan's transient trace buffers.

Bounds the live ray-tracing scratch buffers so large scans are chunked rather than traced in one OOM-prone batch. bytes must be > 0; if never set, Helios uses an automatic path-dependent default (4 GiB CPU / 8 GiB GPU).

Definition at line 2381 of file ULiDARWrapper.py.

◆ setLiDARSyntheticScanProgressPointer()

None pyhelios.wrappers.ULiDARWrapper.setLiDARSyntheticScanProgressPointer	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
			ptr )

Register an external per-scan progress counter polled during syntheticScan.

ptr is a ctypes.c_int (pass by ref) into which syntheticScan writes the 0-based index of the scan currently being ray-traced, set to getScanCount() when finished. Pass None to clear.

Definition at line 2402 of file ULiDARWrapper.py.

◆ setLiDARTriangulationSink()

None pyhelios.wrappers.ULiDARWrapper.setLiDARTriangulationSink	(		cloud_ptr,
			callback )

Register a per-scan triangulation sink.

callback must be a LiDARTriangulationSinkCallback instance (or None to clear). The caller is responsible for keeping it alive for as long as native code holds it.

Definition at line 3039 of file ULiDARWrapper.py.

◆ syntheticLiDARScan()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScan	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr )

Perform synthetic discrete-return LiDAR scan.

Definition at line 2349 of file ULiDARWrapper.py.

◆ syntheticLiDARScanAppend()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScanAppend	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		bool	append )

Perform synthetic scan with append control.

Definition at line 2357 of file ULiDARWrapper.py.

◆ syntheticLiDARScanDiscrete()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScanDiscrete	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		bool	scan_grid_only,
		bool	record_misses,
		bool	append )

Perform discrete-return synthetic scan with miss-recording control.

Definition at line 2424 of file ULiDARWrapper.py.

◆ syntheticLiDARScanFull()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScanFull	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		int	rays_per_pulse,
		float	pulse_distance_threshold,
		bool	scan_grid_only,
		bool	record_misses,
		bool	append )

Perform synthetic scan with full control.

Definition at line 2443 of file ULiDARWrapper.py.

◆ syntheticLiDARScanReturnMode()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScanReturnMode	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		int	rays_per_pulse,
		float	pulse_distance_threshold,
		int	return_mode,
		bool	scan_grid_only = False,
		bool	record_misses = False,
		bool	append = True )

Perform an analytic-waveform synthetic scan with an explicit return mode.

return_mode is 0 (multi) or 1 (single); it overrides each scan's stored returnMode for this call only. In single mode up to each scan's maxReturns returns per pulse are reported.

Definition at line 2462 of file ULiDARWrapper.py.

◆ syntheticLiDARScanWaveform()

None pyhelios.wrappers.ULiDARWrapper.syntheticLiDARScanWaveform	(	ctypes.POINTER(ULiDARcloud)	cloud_ptr,
		ctypes.POINTER(UContext)	context_ptr,
		int	rays_per_pulse,
		float	pulse_distance_threshold )

Perform synthetic full-waveform LiDAR scan.

Definition at line 2433 of file ULiDARWrapper.py.

Variable Documentation

◆ _CROPPED_RETURN_STATS_FIELDS

tuple pyhelios.wrappers.ULiDARWrapper._CROPPED_RETURN_STATS_FIELDS

protected

Definition at line 2756 of file ULiDARWrapper.py.

◆ _LIDAR_1384_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_1384_AVAILABLE

protected

Definition at line 906 of file ULiDARWrapper.py.

◆ _LIDAR_1385_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_1385_AVAILABLE

protected

Definition at line 985 of file ULiDARWrapper.py.

◆ _LIDAR_1386_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_1386_AVAILABLE

protected

Definition at line 1019 of file ULiDARWrapper.py.

◆ _LIDAR_CROPPED_RETURNS_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_CROPPED_RETURNS_AVAILABLE

protected

Definition at line 1180 of file ULiDARWrapper.py.

◆ _LIDAR_FUNCTIONS_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_FUNCTIONS_AVAILABLE

protected

Definition at line 891 of file ULiDARWrapper.py.

◆ addLiDARHitPoint

pyhelios.wrappers.ULiDARWrapper.addLiDARHitPoint = mock_lidar_operation

Definition at line 2712 of file ULiDARWrapper.py.

◆ addLiDARScan

pyhelios.wrappers.ULiDARWrapper.addLiDARScan = mock_lidar_operation

Definition at line 2711 of file ULiDARWrapper.py.

◆ argtypes

pyhelios.wrappers.ULiDARWrapper.argtypes

Definition at line 49 of file ULiDARWrapper.py.

◆ createLiDARcloud

pyhelios.wrappers.ULiDARWrapper.createLiDARcloud = mock_createLiDARcloud

Create LiDARcloud instance.

Definition at line 2710 of file ULiDARWrapper.py.

◆ errcheck

pyhelios.wrappers.ULiDARWrapper.errcheck

Definition at line 51 of file ULiDARWrapper.py.

◆ LiDARProgressCallback

pyhelios.wrappers.ULiDARWrapper.LiDARProgressCallback = ctypes.CFUNCTYPE(None, ctypes.c_float, ctypes.c_char_p)

Definition at line 31 of file ULiDARWrapper.py.

◆ LiDARSyntheticScanHitSinkCallback

pyhelios.wrappers.ULiDARWrapper.LiDARSyntheticScanHitSinkCallback

Initial value:

1= ctypes.CFUNCTYPE(

2 None, ctypes.c_size_t, ctypes.c_size_t, ctypes.c_void_p)

Definition at line 42 of file ULiDARWrapper.py.

◆ LiDARTriangulationSinkCallback

pyhelios.wrappers.ULiDARWrapper.LiDARTriangulationSinkCallback

Initial value:

=  ctypes.CFUNCTYPE(
    None, ctypes.c_uint, ctypes.POINTER(ctypes.c_float), ctypes.POINTER(ctypes.c_int),
    ctypes.c_uint, ctypes.c_void_p)

Definition at line 36 of file ULiDARWrapper.py.

◆ restype

pyhelios.wrappers.ULiDARWrapper.restype

Definition at line 50 of file ULiDARWrapper.py.

Classes

Functions

Variables

Function Documentation

◆ _check_error()

◆ _ijk_array()

◆ _require_lidar_1384()

◆ _require_lidar_1385()

◆ _require_lidar_1386()

◆ addLiDARGrid()

◆ addLiDARGridCell()

◆ addLiDARGridTerrainFollowing()

◆ addLiDARHitPoint()

◆ addLiDARHitPointRGB()

◆ addLiDARHitPoints()

◆ addLiDARHitPointsBulk()

◆ addLiDARHitPointsWithData()

◆ addLiDARScan()

◆ addLiDARScanMoving()

◆ addLiDARScanMovingRaster()

◆ addLiDARScanRisley()

◆ addLiDARScanSpinning()

◆ addLiDARTrianglesToContext()

◆ calculateLiDARHitGridCell()

◆ calculateLiDARLeafArea()

◆ calculateLiDARLeafAreaBlock()

◆ calculateLiDARLeafAreaGtheta()

◆ calculateLiDARLeafAreaGthetaBlock()

◆ calculateLiDARLeafAreaGthetaPerCell()

◆ calculateLiDARLeafAreaGthetaPerCellBlock()

◆ calculateLiDARLeafAreaMinHits()

◆ calculateLiDARLeafAreaUncertainty()

◆ calculateSyntheticLiDARGtheta()

◆ calculateSyntheticLiDARLeafArea()

◆ createLiDARHitDataColumn()

◆ deleteLiDARHitPoint()

◆ deleteLiDARHitPoints()

◆ destroyLiDARcloud()

◆ disableLiDARCDGPUAcceleration()

◆ doesLiDARHitDataExist()

◆ enableLiDARCDGPUAcceleration()

◆ estimateLiDARHitPointMemory()

◆ exportLiDARGtheta()

◆ exportLiDARLeafAreaDensities()

◆ exportLiDARLeafAreas()

◆ exportLiDARLeafAreaUncertainty()

◆ exportLiDARPointCloud()

◆ exportLiDARScans()

◆ exportLiDARTriangleAreas()

◆ exportLiDARTriangleNormals()

◆ gapfillLiDARMisses()

◆ gapfillLiDARMissesCount()

◆ gapfillLiDARMissesCountScan()

◆ getLiDARCellBeamCount()

◆ getLiDARCellCenter()

◆ getLiDARCellCenterUnrotated()

◆ getLiDARCellGlobalIJK()

◆ getLiDARCellGtheta()

◆ getLiDARCellLADVariance()

◆ getLiDARCellLeafArea()

◆ getLiDARCellLeafAreaConfidenceInterval()

◆ getLiDARCellLeafAreaDensity()

◆ getLiDARCellMeanPathLength()

◆ getLiDARCellRelativeDensityIndex()

◆ getLiDARCellRotation()

◆ getLiDARCellSize()

◆ getLiDARCroppedReturnStats()

◆ getLiDARDefaultMaxHitPoints()

◆ getLiDARExactPathLengths()

◆ getLiDARGridCellCount()

◆ getLiDARGridGlobalCount()

◆ getLiDARGroupLADConfidenceInterval()

◆ getLiDARHitColor()

◆ getLiDARHitCount()

◆ getLiDARHitData()

◆ getLiDARHitData_all()

◆ getLiDARHitData_all_np()

◆ getLiDARHitDataColumn()

◆ getLiDARHitDataColumn_np()

◆ getLiDARHitDataColumnF32()