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mrpt::obs::CObservationVelodyneScan::raw_block_t Struct Reference

Detailed Description

Raw Velodyne data block.

Each block contains data from either the upper or lower laser bank. The device returns three times as many upper bank blocks.

Definition at line 123 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Attributes

uint16_t header
 Block id: UPPER_BANK or LOWER_BANK. More...
 
uint16_t rotation
 0-35999, divide by 100 to get degrees More...
 
laser_return_t laser_returns [SCANS_PER_BLOCK]
 

Member Data Documentation

◆ header

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::header

Block id: UPPER_BANK or LOWER_BANK.

Definition at line 125 of file CObservationVelodyneScan.h.

Referenced by mrpt::hwdrivers::CVelodyneScanner::receivePackets(), and velodyne_scan_to_pointcloud().

◆ laser_returns

laser_return_t mrpt::obs::CObservationVelodyneScan::raw_block_t::laser_returns[SCANS_PER_BLOCK]

◆ rotation

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation



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