struct mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket
One unit of data from the scanner (the payload of one UDP DATA packet)
#include <mrpt/obs/CObservationVelodyneScan.h> struct TVelodyneRawPacket { // fields raw_block_t blocks[BLOCKS_PER_PACKET]; uint8_t laser_return_mode; uint8_t velodyne_model_ID; // methods uint32_t gps_timestamp() const; };
Fields
uint8_t laser_return_mode
0x37: strongest, 0x38: last, 0x39: dual return
uint8_t velodyne_model_ID
0x21: HDL-32E, 0x22: VLP-16