build_point_cloud

akkits.build_point_cloud(frame_id, lidar_timestamp, unix_timestamp, lidars_sn, attr_columns, point_clouds)

Builds the point cloud data message buffer.

Parameters

• frame_id (int) – Frame ID.

• lidar_timestamp (float) – Timestamp from LiDAR.

• unix_timestamp (float) – Timestamp from sensor interface.

• lidars_sn (List[int]) – List of LiDAR serial number.

• attr_columns (List[int]) – List of attribute type: akkits.AttrType.

• point_clouds (List[np.ndarray]) – List of point cloud NumPy array.

Returns

buffer (bytearray) – Message buffer.