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Co-authored-by: David Wong <[email protected]>
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@mojomex @drwnz
mojomex and drwnz authored Jun 28, 2024
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Expand Up @@ -9,52 +9,52 @@ These definitions can be found in the `nebula_common/include/point_types.hpp`.

| Field | Type | Units | Description |
| ----------- | -------- | ----- | ---------------------------------------------------------------------------- |
| `x` | `float` | `m` | The point's cartesian x coordinate. |
| `y` | `float` | `m` | The point's cartesian y coordinate. |
| `z` | `float` | `m` | The point's cartesian z coordinate. |
| `x` | `float` | `m` | Cartesian x coordinate. |
| `y` | `float` | `m` | Cartesian y coordinate. |
| `z` | `float` | `m` | Cartesian z coordinate. |
| padding | 4 bytes | | |
| `intensity` | `float` | | The intensity of the return as reported by the sensor. |
| `ring` | `uint16` | | The ID of the ring the point is part of. Only defined for rotational LiDARs. |
| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
| `ring` | `uint16` | | Ring ID - only defined for rotational LiDARs. |

## PointXYZICATR

| Field | Type | Units | Description |
| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
| `x` | `float` | `m` | The point's cartesian x coordinate. |
| `x` | `float` | `m` | Cartesian x coordinate. |
| `y` | `float` | `m` | The point's cartesian y coordinate. |
| `z` | `float` | `m` | The point's cartesian z coordinate. |
| `z` | `float` | `m` | Cartesian z coordinate. |
| padding | 4 bytes | | |
| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
| `channel` | `uint16` | | The ID of the laser channel that produced the point. |
| `azimuth` | `float` | `degrees` | azimuth in polar coordinates. |
| `timestamp` | `uint32` | `ns` | The time the point was detected relative to the pointcloud timestamp. |
| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
| `azimuth` | `float` | `degrees` | Azimuth in polar coordinates. |
| `timestamp` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |
| `return type` | `uint8` | | Return (echo) type. |

## PointXYZIRADT

| Field | Type | Units | Description |
| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
| `x` | `float` | `m` | The point's cartesian x coordinate. |
| `y` | `float` | `m` | The point's cartesian y coordinate. |
| `z` | `float` | `m` | The point's cartesian z coordinate. |
| `x` | `float` | `m` | Cartesian x coordinate. |
| `y` | `float` | `m` | Cartesian y coordinate. |
| `z` | `float` | `m` | Cartesian z coordinate. |
| padding | 4 bytes | | |
| `intensity` | `float` | | The intensity of the return as reported by the sensor. |
| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
| `azimuth` | `float` | `degrees` | The point's azimuth in polar coordinates. |
| `distance` | `float` | `m` | The point's distance from the sensor origin. |
| `timestamp` | `double` | `ns` | The time the point was detected relative to the pointcloud timestamp. |
| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
| `return type` | `uint8` | | Return (echo) type. |
| `azimuth` | `float` | `degrees` | Azimuth in polar coordinates. |
| `distance` | `float` | `m` | Distance from the sensor origin. |
| `timestamp` | `double` | `ns` | Time of detection relative to the pointcloud timestamp. |

## NebulaPoint = PointXYZIRCAEDT

| Field | Type | Units | Description |
| ------------- | -------- | ----- | --------------------------------------------------------------------------- |
| `x` | `float` | `m` | The point's cartesian x coordinate. |
| `y` | `float` | `m` | The point's cartesian y coordinate. |
| `z` | `float` | `m` | The point's cartesian z coordinate. |
| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
| `channel` | `uint16` | | The ID of the laser channel that produced the point. |
| `azimuth` | `float` | `rad` | The point's azimuth in polar coordinates. |
| `elevation` | `float` | `rad` | The point's elevation in polar coordinates. |
| `distance` | `float` | `m` | The point's distance from the sensor origin. |
| `timestamp` | `uint32` | `ns` | The time the point was detected relative to the pointcloud timestamp. |
| `x` | `float` | `m` | Cartesian x coordinate. |
| `y` | `float` | `m` | Cartesian y coordinate. |
| `z` | `float` | `m` | Cartesian z coordinate. |
| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
| `return type` | `uint8` | | Return (echo) type. |
| `channel` | `uint16` | | Laser channel ID. |
| `azimuth` | `float` | `rad` | Azimuth in polar coordinates. |
| `elevation` | `float` | `rad` | Eevation in polar coordinates. |
| `distance` | `float` | `m` | Distance from the sensor origin. |
| `timestamp` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |

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