Data payload format for data of type SENSOR_FORMAT_LIDAR_POLAR
Synopsis:
#include <sensor/sensor_lidar.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 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.
- int16_t azimuth
- Azimuth angle, in hundredth of degrees with a -/+18000 range, centered on the forward axis of the sensor.
A positive angle indicates a clockwise direction.
- int16_t elevation
- Elevation angle, in hundredth of degrees from the sensor plane to the data point.
- uint32_t distance
- Distance, in millimeters (mm) to the data point.
Library:
libsensor
Description:
The data payload in the sensor_buffer_t data field is an array of these structures.