lidar

package
v0.5.0 Latest Latest
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 Go to latest Published: Mar 25, 2026 License: Apache-2.0 Imports: 10 Imported by: 0

Documentation

Overview

Package lidar provides backward-compatible type aliases for the layer-aligned sub-packages. These aliases allow the integration and cross-layer tests in this package to reference types without fully-qualified imports.

New code should import from the canonical layer packages directly: 

l2frames, l3grid, l4perception, l5tracks, l6objects, pipeline, storage/sqlite, adapters

Index

Constants

This section is empty.

Variables

View Source 
var DBSCAN = l4perception.DBSCAN
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var DefaultRunParams = sqlite.DefaultRunParams
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var DefaultTrackerConfig = l5tracks.DefaultTrackerConfig
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var GetActiveTracks = sqlite.GetActiveTracks
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var InsertTrack = sqlite.InsertTrack
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var InsertTrackObservation = sqlite.InsertTrackObservation
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var NewAnalysisRunManager = sqlite.NewAnalysisRunManager
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var NewBackgroundManager = l3grid.NewBackgroundManager
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var NewDefaultDBSCANClusterer = l4perception.NewDefaultDBSCANClusterer
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var NewFrameBuilder = l2frames.NewFrameBuilder
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var NewTrackClassifier = l6objects.NewTrackClassifier
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var NewTracker = l5tracks.NewTracker
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var RegisterAnalysisRunManager = sqlite.RegisterAnalysisRunManager
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var SphericalToCartesian = l2frames.SphericalToCartesian
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var StoreForegroundSnapshot = l3grid.StoreForegroundSnapshot

Functions

func Diagf added in v0.5.0 

func Diagf(format string, args ...interface{})

Diagf logs to the diag stream (day-to-day diagnostics, tuning context).

func Opsf added in v0.5.0 

func Opsf(format string, args ...interface{})

Opsf logs to the ops stream (actionable warnings, errors, lifecycle events).

func SetLogWriters added in v0.5.0 

func SetLogWriters(w LogWriters)

SetLogWriters configures all three logging streams at once. Pass nil for any writer to disable that stream.

func SubLogger added in v0.5.0 

func SubLogger(subtag string) func(format string, args ...interface{})

SubLogger returns an ops-level Printf-compatible function with a combined tag prefix, e.g. SubLogger("pcap") yields "lidar/pcap " tag. Returns a no-op if the ops writer is nil.

func SubLoggers added in v0.5.0 

func SubLoggers(subtag string) (ops, diag, trace func(format string, args ...interface{}))

SubLoggers returns ops/diag/trace Printf-compatible functions with a combined tag prefix, e.g. SubLoggers("vis") produces "lidar/vis ". Any stream without a writer returns a no-op.

func Tracef added in v0.5.0 

func Tracef(format string, args ...interface{})

Tracef logs to the trace stream (high-frequency packet/frame telemetry).

Types

type AnalysisRunManager 

type AnalysisRunManager = sqlite.AnalysisRunManager

type BackgroundGrid 

type BackgroundGrid = l3grid.BackgroundGrid

type BackgroundManager 

type BackgroundManager = l3grid.BackgroundManager

type BackgroundParams 

type BackgroundParams = l3grid.BackgroundParams

type BgSnapshot 

type BgSnapshot = l3grid.BgSnapshot

type BgStore 

type BgStore = l3grid.BgStore

type ForegroundForwarder 

type ForegroundForwarder = pipeline.ForegroundForwarder

type FrameBuilder 

type FrameBuilder = l2frames.FrameBuilder

type FrameBuilderConfig 

type FrameBuilderConfig = l2frames.FrameBuilderConfig

type FrameID 

type FrameID = l3grid.FrameID

type LiDARFrame 

type LiDARFrame = l2frames.LiDARFrame

type LidarViewAdapter added in v0.5.0 

type LidarViewAdapter = pipeline.LidarViewAdapter

type LogWriters added in v0.5.0 

type LogWriters struct {
	Ops   io.Writer
	Diag  io.Writer
	Trace io.Writer
}

LogWriters holds the io.Writers for each logging stream.

type ObjectClass 

type ObjectClass = l6objects.ObjectClass

type Point 

type Point = l2frames.Point

type PointPolar 

type PointPolar = l2frames.PointPolar

type RegionData added in v0.5.0 

type RegionData = l3grid.RegionData

type RegionSnapshot added in v0.5.0 

type RegionSnapshot = l3grid.RegionSnapshot

type TrackFeatures added in v0.5.0 

type TrackFeatures = l6objects.TrackFeatures

type TrackedObject 

type TrackedObject = l5tracks.TrackedObject

type Tracker 

type Tracker = l5tracks.Tracker

type TrackerConfig 

type TrackerConfig = l5tracks.TrackerConfig

type TrackerInterface added in v0.5.0 

type TrackerInterface = l5tracks.TrackerInterface

type TrackingMetrics added in v0.5.0 

type TrackingMetrics = l5tracks.TrackingMetrics

type TrackingPipelineConfig 

type TrackingPipelineConfig = pipeline.TrackingPipelineConfig

type VisualiserAdapter added in v0.5.0 

type VisualiserAdapter = pipeline.VisualiserAdapter

type VisualiserPublisher added in v0.5.0 

type VisualiserPublisher = pipeline.VisualiserPublisher

type WorldCluster 

type WorldCluster = l4perception.WorldCluster

type WorldPoint 

type WorldPoint = l4perception.WorldPoint

Source Files

View all Source files

Directories

Path Synopsis
Package adapters contains transport and IO boundary implementations for the LiDAR subsystem (HTTP, gRPC, UDP).
 Package adapters contains transport and IO boundary implementations for the LiDAR subsystem (HTTP, gRPC, UDP).
Package analysis generates structured JSON reports from .vrlog recordings.
 Package analysis generates structured JSON reports from .vrlog recordings.
Package debug provides instrumentation for LiDAR tracking algorithms.
 Package debug provides instrumentation for LiDAR tracking algorithms.
Package l1packets owns Layer 1 (Packets) of the LiDAR data model.
 Package l1packets owns Layer 1 (Packets) of the LiDAR data model.
network
parse
Package l2frames owns Layer 2 (Frames) of the LiDAR data model.
 Package l2frames owns Layer 2 (Frames) of the LiDAR data model.
Package lidar provides LiDAR processing and background subtraction.
 Package lidar provides LiDAR processing and background subtraction.
Package l4perception owns Layer 4 (Perception) of the LiDAR data model.
 Package l4perception owns Layer 4 (Perception) of the LiDAR data model.
Package l5tracks owns Layer 5 (Tracks) of the LiDAR data model.
 Package l5tracks owns Layer 5 (Tracks) of the LiDAR data model.
Package l6objects owns Layer 6 (Objects) of the LiDAR data model.
 Package l6objects owns Layer 6 (Objects) of the LiDAR data model.
Package l8analytics owns Layer 8 (Analytics) of the LiDAR data model.
 Package l8analytics owns Layer 8 (Analytics) of the LiDAR data model.
Package visualiser provides gRPC streaming of LiDAR perception data.
 Package visualiser provides gRPC streaming of LiDAR perception data.
pb
recorder
Package recorder — protobuf codec for VRLOG frame storage.
 Package recorder — protobuf codec for VRLOG frame storage.
Package pipeline provides orchestration for the LiDAR tracking pipeline.
 Package pipeline provides orchestration for the LiDAR tracking pipeline.
Package server provides thin HTTP handler shells for LiDAR chart endpoints.
 Package server provides thin HTTP handler shells for LiDAR chart endpoints.
storage
configasset
sqlite
Package sqlite contains SQLite repository implementations for LiDAR domain types.
 Package sqlite contains SQLite repository implementations for LiDAR domain types.
Package sweep provides utilities for parameter sweeping and sampling in LiDAR background detection tuning.
 Package sweep provides utilities for parameter sweeping and sampling in LiDAR background detection tuning.

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