Point Cloud Data Specification#
This is a point cloud message from AkiraKan fusion box. This message will be sent out for each received LiDAR data frame (10Hz).
Communication Specification#
Item |
Description |
---|---|
Communication Protocol |
TCP (ZeroMQ PULL) |
Data Encoding |
FlatBuffers v2.0.0 |
Output Port |
5558 |
PointCloudPacket#
Field |
Uint |
Data Type |
Description |
---|---|---|---|
frame_id |
- |
uint16 |
ID / index of the LiDAR frame / scan. It is incremented every time the sensor completes a rotation, crossing the zero azimuth angle. |
lidarts_ms |
ms |
float64 |
Timestamp from Ouster LiDAR Time Source. |
unixts_ms |
ms |
float64 |
Unix timestamp (milliseconds since 1970) from AkiraKan fusion box |
point_clouds |
- |
Vector of synchronized point cloud in the current time |
PointCloud#
Field |
Unit |
Data type |
Description |
---|---|---|---|
lidar_sn |
- |
uint64 |
Serial number of the sensor. This value is unique to each sensor and can be found on a sticker affixed to the base of the sensor. |
attr_column |
- |
AttrType (uint8) |
Column Attribute type |
column_count |
- |
uint8 |
Number of columns - at least 3 columns when AttrType is NoAttr. |
row_count |
- |
uint32 |
Number of points |
point_cloud |
- |
[float32] |
Vector of point cloud in row-major order with total length of column_count x row_count |
AttrType#
Type |
Enumeration |
Data type |
Description |
---|---|---|---|
NoAttr |
0 |
uint8 |
Only output x, y, z column without attributes |
Range |
1 |
uint8 |
Output Range only - range in millimeters, discretized to the nearest 1 millimeters. |
Reflectivity |
2 |
uint8 |
Output Calibrated Reflectivity only - sensor Signal Photons measurements are scaled based on measured range and sensor sensitivity at that range, providing an indication of target reflectivity. |
SignalPhotons |
3 |
uint8 |
Output Signal Photons only - signal intensity photons in the signal return measurement are reported. |
NIRPhotons |
4 |
uint8 |
Output Near Infrared Photons only - NIR photons related to natural environmental illumination are reported. |
ReflectivityNIR |
5 |
uint8 |
Output Calibrated Reflectivity and Near Infrared Photons only in the following order: Calibrated Reflectivity, Near Infrared Photons |
AllAttr |
6 |
uint8 |
Output Calibrated Reflectivity and Near Infrared Photons only in the following order: Calibrated Reflectivity, Near Infrared Photons |