sensor_lidar_point_cloud

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.