sensor_lidar_point_cloud

Data payload format for data of type SENSOR_FORMAT_LIDAR_POINT_CLOUD

Synopsis:

#include <sensor/sensor_api.h>

typedef struct sensor_lidar_point_cloud_t {
    uint32_t time_offset;
    uint8_t reflectivity;
    uint8_t laserId;
    uint16_t flag;
    int32_t xCoord;
    int32_t yCoord;
    int32_t zCoord;
} sensor_lidar_point_cloud_t;

Data:

uint32_t time_offset: Offset from the timestamp in sensor_buffer_t to apply for this data point.
uint8_t reflectivity: A value from 0-255 that specifies the reflectivity value, where a higher number means a more reflective object was encountered.
uint8_t laserId: The identifier of the laser associated with this data point.
uint16_t flag: Flag bit field using sensor_lidar_flag_t structure.
int32_t xCoord: The X-coordinate (millimeters).
int32_t yCoord: The Y-coordinate (millimeters).
int32_t zCoord: The Z-coordinate (millimeters).

Library:

libsensor

Description:

The payload in data of sensor_buffer_t is an array of these data points.