Data payload format for data of type SENSOR_FORMAT_LIDAR_SPHERICAL
Synopsis:
#include <sensor/sensor_lidar.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 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.
- uint16_t theta
- Angle, in hundredths of degrees measured downwards from the Z-axis.
The range is 0 to 17999.
- uint16_t phi
- Angle, in hundredths of degrees measured counterclockwise from the X-axis (the Y-axis is forwards with respect to the sensor).
The range is 0 to 35999.
- uint32_t rho
- Radial 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.