sensor_lidar_spherical

Data payload format for data of type SENSOR_FORMAT_LIDAR_SPHERICAL

Synopsis:

#include <sensor/sensor_api.h>

typedef struct sensor_lidar_spherical_t {
    uint32_t time_offset;
    uint8_t reflectivity;
    uint8_t laserId;
    uint16_t flag;
    uint16_t theta;
    uint16_t phi;
    uint32_t rho;
} sensor_lidar_spherical_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.
uint16_t theta: Angle in hundredths of degrees measured downwards from Z axis.; In range [0, 18000).
uint16_t phi: Angle in hundredths of degrees measured counter clockwise from X axis (Y axis is forwards with respect to the sensor).; In range [0, 36000).
uint32_t rho: The radial distance in millimetres (mm) to the data point.

Library:

libsensor

Description:

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