struct mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket

Overview

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