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]	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)

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

	argtypes

	restype

	errcheck

bool	_LIDAR_FUNCTIONS_AVAILABLE

	createLiDARcloud () = mock_createLiDARcloud
	Create LiDARcloud instance.

	addLiDARScan = mock_lidar_operation

	addLiDARHitPoint = mock_lidar_operation

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.

◆ 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 1902 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 1950 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 1921 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 1446 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 1462 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 1487 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 1506 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 898 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 937 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 1081 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 1147 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 1007 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 2324 of file ULiDARWrapper.py.

◆ calculateLiDARHitGridCell()

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

Calculate hit point grid cell assignments.

Definition at line 2014 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 2150 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 2181 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 2158 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 2167 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 2316 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 2308 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 1710 of file ULiDARWrapper.py.

◆ destroyLiDARcloud()

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

Destroy LiDARcloud instance.

Definition at line 892 of file ULiDARWrapper.py.

◆ disableLiDARCDGPUAcceleration()

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

Disable GPU acceleration for collision detection.

Definition at line 2347 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 1588 of file ULiDARWrapper.py.

◆ enableLiDARCDGPUAcceleration()

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

Enable GPU acceleration for collision detection.

Definition at line 2340 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 2280 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 2273 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 2266 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 1867 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 1859 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 1874 of file ULiDARWrapper.py.

◆ exportLiDARTriangleAreas()

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

Export triangle areas.

Definition at line 2259 of file ULiDARWrapper.py.

◆ exportLiDARTriangleNormals()

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

Export triangle normal vectors.

Definition at line 2252 of file ULiDARWrapper.py.

◆ gapfillLiDARMisses()

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

Gapfill sky/miss points.

Definition at line 2301 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 2191 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 1973 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 2287 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 2212 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 2000 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 2223 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 2007 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 2205 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 2198 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 1993 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 1983 of file ULiDARWrapper.py.

◆ getLiDARGridCellCount()

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

Get number of grid cells.

Definition at line 1966 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 2237 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 1571 of file ULiDARWrapper.py.

◆ getLiDARHitCount()

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

Get total number of hit points.

Definition at line 1530 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 1595 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 1602 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 1645 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 1660 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 1679 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 1671 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 1551 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 1561 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 1581 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 1690 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 1615 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 1631 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 1537 of file ULiDARWrapper.py.

◆ getLiDARMissDistance()

float pyhelios.wrappers.ULiDARWrapper.getLiDARMissDistance ( )

Return the LIDAR_MISS_DISTANCE constant (meters).

Definition at line 1394 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 1439 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 1354 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 1368 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 1401 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 1326 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 1298 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 1219 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 1408 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 1361 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 1312 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 1432 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 1270 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 1240 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 1250 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 1263 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 1233 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 1284 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 1425 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 1418 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 1226 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 1347 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 1340 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 2063 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 1749 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 1782 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 1763 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 2332 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 2361 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 2354 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 1380 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 1700 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 1729 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 1717 of file ULiDARWrapper.py.

◆ lidarDisableMessages()

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

Disable console output messages.

Definition at line 1888 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 1831 of file ULiDARWrapper.py.

◆ lidarEnableMessages()

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

Enable console output messages.

Definition at line 1895 of file ULiDARWrapper.py.

◆ lidarFirstHitFilter()

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

Keep only first return hit points.

Definition at line 1845 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 1387 of file ULiDARWrapper.py.

◆ lidarLastHitFilter()

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

Keep only last return hit points.

Definition at line 1852 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 1838 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 1807 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 1741 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 1881 of file ULiDARWrapper.py.

◆ mock_createLiDARcloud()

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

Definition at line 2369 of file ULiDARWrapper.py.

◆ mock_lidar_operation()

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

Definition at line 2375 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 2041 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 2294 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 2086 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 1333 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 1305 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 1319 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 1277 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 1291 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 2053 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 2074 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 2021 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 2029 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 2096 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 2115 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 2134 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 2105 of file ULiDARWrapper.py.

Variable Documentation

◆ _LIDAR_FUNCTIONS_AVAILABLE

bool pyhelios.wrappers.ULiDARWrapper._LIDAR_FUNCTIONS_AVAILABLE

protected

Definition at line 871 of file ULiDARWrapper.py.

◆ addLiDARHitPoint

pyhelios.wrappers.ULiDARWrapper.addLiDARHitPoint = mock_lidar_operation

Definition at line 2384 of file ULiDARWrapper.py.

◆ addLiDARScan

pyhelios.wrappers.ULiDARWrapper.addLiDARScan = mock_lidar_operation

Definition at line 2383 of file ULiDARWrapper.py.

◆ argtypes

pyhelios.wrappers.ULiDARWrapper.argtypes

Definition at line 37 of file ULiDARWrapper.py.

◆ createLiDARcloud

pyhelios.wrappers.ULiDARWrapper.createLiDARcloud = mock_createLiDARcloud

Create LiDARcloud instance.

Definition at line 2382 of file ULiDARWrapper.py.

◆ errcheck

pyhelios.wrappers.ULiDARWrapper.errcheck

Definition at line 39 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.

◆ restype

pyhelios.wrappers.ULiDARWrapper.restype

Definition at line 38 of file ULiDARWrapper.py.

Classes

Functions

Variables

Function Documentation

◆ _check_error()

◆ addLiDARGrid()

◆ addLiDARGridCell()

◆ addLiDARGridTerrainFollowing()

◆ addLiDARHitPoint()

◆ addLiDARHitPointRGB()

◆ addLiDARHitPoints()

◆ addLiDARHitPointsWithData()

◆ addLiDARScan()

◆ addLiDARScanMoving()

◆ addLiDARScanMovingRaster()

◆ addLiDARScanRisley()

◆ addLiDARScanSpinning()

◆ addLiDARTrianglesToContext()

◆ calculateLiDARHitGridCell()

◆ calculateLiDARLeafArea()

◆ calculateLiDARLeafAreaGtheta()

◆ calculateLiDARLeafAreaMinHits()

◆ calculateLiDARLeafAreaUncertainty()

◆ calculateSyntheticLiDARGtheta()

◆ calculateSyntheticLiDARLeafArea()

◆ deleteLiDARHitPoint()

◆ destroyLiDARcloud()

◆ disableLiDARCDGPUAcceleration()

◆ doesLiDARHitDataExist()

◆ enableLiDARCDGPUAcceleration()

◆ exportLiDARGtheta()

◆ exportLiDARLeafAreaDensities()

◆ exportLiDARLeafAreas()

◆ exportLiDARLeafAreaUncertainty()

◆ exportLiDARPointCloud()

◆ exportLiDARScans()

◆ exportLiDARTriangleAreas()

◆ exportLiDARTriangleNormals()

◆ gapfillLiDARMisses()

◆ getLiDARCellBeamCount()

◆ getLiDARCellCenter()

◆ getLiDARCellGtheta()

◆ getLiDARCellLADVariance()

◆ getLiDARCellLeafArea()

◆ getLiDARCellLeafAreaConfidenceInterval()

◆ getLiDARCellLeafAreaDensity()

◆ getLiDARCellMeanPathLength()

◆ getLiDARCellRelativeDensityIndex()

◆ getLiDARCellRotation()

◆ getLiDARCellSize()

◆ getLiDARGridCellCount()

◆ getLiDARGroupLADConfidenceInterval()

◆ getLiDARHitColor()

◆ getLiDARHitCount()

◆ getLiDARHitData()

◆ getLiDARHitData_all()

◆ getLiDARHitData_all_np()

◆ getLiDARHitDataColumn()

◆ getLiDARHitDataColumn_np()

◆ getLiDARHitDataColumnIndex()

◆ getLiDARHitOrigin()

◆ getLiDARHitRaydir()

◆ getLiDARHitScanID()

◆ getLiDARHitScanID_all()

◆ getLiDARHitsXYZRGB_all()

◆ getLiDARHitsXYZRGB_all_np()

◆ getLiDARHitXYZ()

◆ getLiDARMissDistance()

◆ getLiDARScanAngleNoiseStdDev()

◆ getLiDARScanAzimuthOffset()

◆ getLiDARScanBeamZenithAngles()

◆ getLiDARScanCount()

◆ getLiDARScanDetectionThreshold()

◆ getLiDARScanMaxReturns()

◆ getLiDARScanMode()

◆ getLiDARScanOrigin()

◆ getLiDARScanPattern()

◆ getLiDARScanPulseWidth()

◆ getLiDARScanRangeNoiseStdDev()

◆ getLiDARScanReturnMode()