Data payload format for data of type SENSOR_FORMAT_LIDAR_POINT_CLOUD
Synopsis:
#include <sensor/sensor_lidar.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 to 255 that specifies the reflectivity value, where a higher number means a more reflective object was encountered.
- uint8_t laserId
- Identifier of the laser associated with this data point.
- uint16_t flag
- Bitfield with values based on the sensor_lidar_flag_t enumeration.
- int32_t xCoord
- The X-coordinate, in millimeters (mm).
- int32_t yCoord
- The Y-coordinate, in millimeters (mm).
- int32_t zCoord
- The Z-coordinate, in millimeters (mm).
Library:
libsensor
Description:
The data payload in the sensor_buffer_t data field is an array of these structures.