Get the lidar data format

GET

http://os-992244000006.local/api/v1/sensor/metadata/lidar_data_format

GET

/api/v1/sensor/metadata/lidar_data_format

$ curl http://os-992244000006.local/api/v1/sensor/metadata/lidar_data_format

200Retrieved

1 {
2   "columns_per_frame": 1024,
3   "columns_per_packet": 16,
4   "pixel_shift_by_row": [
5     0,
6     1,
7     2,
8     3,
9     4,
10     5,
11     6,
12     7,
13     8,
14     9,
15     10,
16     11,
17     12,
18     13,
19     14,
20     15,
21     16,
22     17,
23     18,
24     19,
25     20,
26     21,
27     22,
28     23,
29     24,
30     25,
31     26,
32     27,
33     28,
34     29,
35     30,
36     31,
37     32,
38     33,
39     34,
40     35,
41     36,
42     37,
43     38,
44     39,
45     40,
46     41,
47     42,
48     43,
49     44,
50     45,
51     46,
52     47,
53     48,
54     49,
55     50,
56     51,
57     52,
58     53,
59     54,
60     55,
61     56,
62     57,
63     58,
64     59,
65     60,
66     61,
67     62,
68     63,
69     64,
70     65,
71     66,
72     67,
73     68,
74     69,
75     70,
76     71,
77     72,
78     73,
79     74,
80     75,
81     76,
82     77,
83     78,
84     79,
85     80,
86     81,
87     82,
88     83,
89     84,
90     85,
91     86,
92     87,
93     88,
94     89,
95     90,
96     91,
97     92,
98     93,
99     94,
100     95,
101     96,
102     97,
103     98,
104     99,
105     100,
106     101,
107     102,
108     103,
109     104,
110     105,
111     106,
112     107,
113     108,
114     109,
115     110,
116     111,
117     112,
118     113,
119     114,
120     115,
121     116,
122     117,
123     118,
124     119,
125     120,
126     121,
127     122,
128     123,
129     124,
130     125,
131     126,
132     127
133   ],
134   "pixels_per_column": 128,
135   "column_window": [
136     0,
137     1023
138   ],
139   "header_type": "STANDARD",
140   "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16",
141   "udp_profile_imu": "ACCEL32_GYRO32_NMEA",
142   "lidar_frame_azimuth_offset": 150
143 }

Get the sensor lidar data format

Note: This command only works when the lidar is running

Response

Lidar packet structure metadata

columns_per_frameinteger

Number of measurement columns per frame. This can be 512, 1024, or 2048, depending upon the set lidar mode.

columns_per_packetinteger

Number of measurement blocks contained in a single lidar packet. Note: This is not user configurable.

pixel_shift_by_rowlist of integers

Offset in terms of pixel count. Can be used to destagger image. Varies by lidar mode. Length of this array is equal to the number of channels of the sensor.

pixels_per_columninteger

Number of channels of the sensor.

column_windowlist of integers

Index of measurement blocks that are active. Default is [0, lidar_mode-1], e.g. [0,1023]. If there is an azimuth window set, this parameter will reflect which measurement blocks of data are within the region of interest.

header_typeenumDefaults to STANDARD

UDP packet header type

udp_profile_lidarenumDefaults to RNG19_RFL8_SIG16_NIR16

Lidar data profile format. Defaults to single return profile.

udp_profile_imuanyDefaults to ACCEL32_GYRO32_NMEA

IMU data profile format

lidar_frame_azimuth_offsetinteger

The configured azimuth offset for the lidar coordinate frame in millidegrees