Python API Reference

The Python package exposes the core ALICE-LRI functionality.

Main Functions

Common entry points for typical workflows.

estimate_intrinsics(x: Sequence[float], y: Sequence[float], z: Sequence[float]) → alice_lri.Intrinsics

Estimate sensor intrinsics from point cloud coordinates given as float vectors.

Parameters:
Returns:

Estimated sensor intrinsics.

Return type:

Intrinsics

project_to_range_image(intrinsics: alice_lri.Intrinsics, x: Sequence[float], y: Sequence[float], z: Sequence[float]) → alice_lri.RangeImage

Project a point cloud to a range image using given intrinsics.

Parameters:

  • intrinsics (Intrinsics) – Sensor intrinsics (see estimate_intrinsics).

  • x (list of float) – X coordinates.

  • y (list of float) – Y coordinates.

  • z (list of float) – Z coordinates.

Returns:

Projected range image.

Return type:

RangeImage

unproject_to_point_cloud(intrinsics: alice_lri.Intrinsics, ri: alice_lri.RangeImage) → tuple

Unproject a range image to a 3D point cloud using given intrinsics.

Parameters:
Returns:

(x, y, z) coordinate lists.

Return type:

tuple

Main Data Structures

Types commonly used when interacting with ALICE-LRI.

class Intrinsics

Contains intrinsic parameters for a sensor, including all scanlines.

Parameters:

scanline_count (int) – Number of scanlines.

property scanlines

Array of scanlines describing the sensor geometry.

class RangeImage

Represents a 2D range image with pixel data.

Parameters:

  • width (int) – Image width.

  • height (int) – Image height.

  • initial_value (float, optional) – Initial value for all pixels (if provided).

Note

The (width, height) constructor only reserves space for pixels but does not initialize them. The (width, height, initial_value) constructor initializes all pixels to the given value.

property height

Image height.

property width

Image width.

Additional Resources