sensor_lidar_flag_t

Lidar point properties

Synopsis:

#include <sensor/sensor_lidar.h>
typedef enum {
    VL_SECONDARY_RETURN = 1,
    VL_INVALID_RETURN = 2,
    VL_CORRECTED_POINT = 4
} sensor_lidar_flag_t;

Data:

VL_SECONDARY_RETURN
Secondary return: When this bit is set, the lidar point represents a secondary return data.

When this bit isn't set, the point represents a primary return data from the lidar system.

VL_INVALID_RETURN
Invalid return: When this bit is set, the lidar data read was invalid and is outside of the supported range of the device.

When this bit isn't set, the data read is a valid return value from the lidar system.

VL_CORRECTED_POINT
Corrected point: When this bit is set, the point has been corrected using calibration data.

When this bit isn't set, it's possible that not all calibration data has been received from the sensor when in the instream correction mode, and correction will begin when all of the data is received.

Library:

libsensor

Description:

These flags represent bits that can be set or not set in the sensor_lidar_polar_t flag field, to indicate the properties of the received lidar point.