Detailed Description
Defines the structure for a decoded lidar packet.
Definition at line 275 of file LidarTypes.h.
Data Fields | |
| dwTime_t | hostTimestamp |
| Timestamp measured on the host, in microseconds. More... | |
| dwTime_t | sensorTimestamp |
| Timestamp of the first point in the point cloud packet, in microseconds. More... | |
| dwTime_t | duration |
| Time difference between the first measurement and the last, in microseconds. More... | |
| uint32_t | maxPoints |
Maximum number of points in the pointsRTHI and pointsXYZI arrays in the packet. More... | |
| uint32_t | nPoints |
Current number of valid points in the pointsRTHI and pointsXYZI arrays in the packet. More... | |
| float32_t | minHorizontalAngleRad |
| Minimum horizontal angle in the packet, in rads. More... | |
| float32_t | maxHorizontalAngleRad |
| Maximum horizontal angle in the packet, in rads. More... | |
| float32_t | minVerticalAngleRad |
| Minimum vertical angle in the packet, in rads. More... | |
| float32_t | maxVerticalAngleRad |
| Maximum vertical angle in the packet, in rads. More... | |
| bool | scanComplete |
| Flag to identify if the scan is complete. More... | |
| dwLidarPointRTHI const * | pointsRTHI |
| Pointer to the array of points in polar coordinates. More... | |
| dwLidarPointXYZI const * | pointsXYZI |
| Pointer to the array of points in cartesian coordinates. More... | |
| float32_t | elevationOffsetRad |
| Elevation offset angle in the packet, in rads. More... | |
| float32_t | azimuthOffsetRad |
| Azimuth offset angle in the packet, in rads. More... | |
| uint8_t | numReturns |
| Number of returns present in this packet. More... | |
| dwLidarDecodedReturn | returnData [DW_SENSORS_LIDAR_MAX_RETURNS] |
| An array contains data for each return in this packet. More... | |
| dwLidarDecodedSSI const * | lidarSSI |
| lidar supplement status info such as misc and health info More... | |
Field Documentation
◆ azimuthOffsetRad
| float32_t dwLidarDecodedPacket::azimuthOffsetRad |
Azimuth offset angle in the packet, in rads.
Definition at line 301 of file LidarTypes.h.
◆ duration
| dwTime_t dwLidarDecodedPacket::duration |
Time difference between the first measurement and the last, in microseconds.
Definition at line 279 of file LidarTypes.h.
◆ elevationOffsetRad
| float32_t dwLidarDecodedPacket::elevationOffsetRad |
Elevation offset angle in the packet, in rads.
Definition at line 300 of file LidarTypes.h.
◆ hostTimestamp
| dwTime_t dwLidarDecodedPacket::hostTimestamp |
Timestamp measured on the host, in microseconds.
Definition at line 277 of file LidarTypes.h.
◆ lidarSSI
| dwLidarDecodedSSI const* dwLidarDecodedPacket::lidarSSI |
lidar supplement status info such as misc and health info
Definition at line 307 of file LidarTypes.h.
◆ maxHorizontalAngleRad
| float32_t dwLidarDecodedPacket::maxHorizontalAngleRad |
Maximum horizontal angle in the packet, in rads.
Definition at line 288 of file LidarTypes.h.
◆ maxPoints
| uint32_t dwLidarDecodedPacket::maxPoints |
Maximum number of points in the pointsRTHI and pointsXYZI arrays in the packet.
Definition at line 282 of file LidarTypes.h.
◆ maxVerticalAngleRad
| float32_t dwLidarDecodedPacket::maxVerticalAngleRad |
Maximum vertical angle in the packet, in rads.
Definition at line 290 of file LidarTypes.h.
◆ minHorizontalAngleRad
| float32_t dwLidarDecodedPacket::minHorizontalAngleRad |
Minimum horizontal angle in the packet, in rads.
Definition at line 287 of file LidarTypes.h.
◆ minVerticalAngleRad
| float32_t dwLidarDecodedPacket::minVerticalAngleRad |
Minimum vertical angle in the packet, in rads.
Definition at line 289 of file LidarTypes.h.
◆ nPoints
| uint32_t dwLidarDecodedPacket::nPoints |
Current number of valid points in the pointsRTHI and pointsXYZI arrays in the packet.
Definition at line 285 of file LidarTypes.h.
◆ numReturns
| uint8_t dwLidarDecodedPacket::numReturns |
Number of returns present in this packet.
Definition at line 303 of file LidarTypes.h.
◆ pointsRTHI
| dwLidarPointRTHI const* dwLidarDecodedPacket::pointsRTHI |
Pointer to the array of points in polar coordinates.
Definition at line 295 of file LidarTypes.h.
◆ pointsXYZI
| dwLidarPointXYZI const* dwLidarDecodedPacket::pointsXYZI |
Pointer to the array of points in cartesian coordinates.
Definition at line 298 of file LidarTypes.h.
◆ returnData
| dwLidarDecodedReturn dwLidarDecodedPacket::returnData[DW_SENSORS_LIDAR_MAX_RETURNS] |
An array contains data for each return in this packet.
Definition at line 304 of file LidarTypes.h.
◆ scanComplete
| bool dwLidarDecodedPacket::scanComplete |
Flag to identify if the scan is complete.
Definition at line 292 of file LidarTypes.h.
◆ sensorTimestamp
| dwTime_t dwLidarDecodedPacket::sensorTimestamp |
Timestamp of the first point in the point cloud packet, in microseconds.
Definition at line 278 of file LidarTypes.h.
The documentation for this struct was generated from the following file: