Data payload format for data of type SENSOR_FORMAT_LIDAR_POLAR
Synopsis:
#include <sensor/sensor_api.h>
typedef struct sensor_lidar_polar_t {
uint32_t time_offset;
uint8_t reflectivity;
uint8_t laserId;
uint16_t flag;
int16_t azimuth;
int16_t elevation;
uint32_t distance;
} sensor_lidar_polar_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.
- int16_t azimuth
- Azimuth angle in hundredth of degrees with -/+18000 range centered on forward axis of sensor.
Positive angle is clockwise.
- int16_t elevation
- Elevation angle in hundredth of degrees from sensor plane to the data point.
- uint32_t distance
- Distance in millimeters (mm) to the data point.
Library:
libsensor
Description:
The payload in data of sensor_buffer_t is an array of these data points.