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 \
>      -H "Content-Type: application/json"

200Retrieved

1 {
2   "columns_per_frame": 1024,
3   "columns_per_packet": 16,
4   "pixel_shift_by_row": [
5     7,
6     6,
7     5,
8     4,
9     3,
10     2,
11     1,
12     0,
13     1,
14     2,
15     3,
16     4,
17     5,
18     6,
19     7,
20     8,
21     9,
22     10,
23     11,
24     12,
25     13,
26     14,
27     15,
28     16,
29     17,
30     18,
31     19,
32     20,
33     21,
34     22,
35     23,
36     24,
37     25,
38     26,
39     27,
40     28,
41     29,
42     30,
43     31,
44     32,
45     33,
46     34,
47     35,
48     36,
49     37,
50     38,
51     39,
52     40,
53     41,
54     42,
55     43,
56     44,
57     45,
58     46,
59     47,
60     48,
61     49,
62     50,
63     51,
64     52,
65     53,
66     54,
67     55,
68     56,
69     57,
70     58,
71     59,
72     60,
73     61,
74     62,
75     63,
76     64,
77     65,
78     66,
79     67,
80     68,
81     69,
82     70,
83     71,
84     72,
85     73,
86     74,
87     75,
88     76,
89     77,
90     78,
91     79,
92     80,
93     81,
94     82,
95     83,
96     84,
97     85,
98     86,
99     87,
100     88,
101     89,
102     90,
103     91,
104     92,
105     93,
106     94,
107     95,
108     96,
109     97,
110     98,
111     99,
112     100,
113     101,
114     102,
115     103,
116     104,
117     105,
118     106,
119     107,
120     108,
121     109,
122     110,
123     111,
124     112,
125     113,
126     114,
127     115,
128     116,
129     117,
130     118,
131     119,
132     120,
133     121,
134     122,
135     123,
136     124,
137     125,
138     126,
139     127
140   ],
141   "pixels_per_column": 128,
142   "column_window": [
143     0,
144     1023
145   ],
146   "header_type": "STANDARD",
147   "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16",
148   "udp_profile_imu": "ACCEL32_GYRO32_NMEA",
149   "lidar_frame_azimuth_offset": 150
150 }

Get the sensor lidar data format

Note: This command only works when the lidar is running

Response

Lidar packet structure metadata

columns_per_frameintegerOptional

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

columns_per_packetintegerOptional

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

pixel_shift_by_rowlist of integersOptional

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_columnintegerOptional

Number of channels of the sensor.

column_windowlist of integersOptional

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_typeenumOptionalDefaults to STANDARD

UDP packet header type

udp_profile_lidarenumOptionalDefaults to RNG19_RFL8_SIG16_NIR16

Lidar data profile format. Defaults to single return profile.

udp_profile_imuanyOptionalDefaults to ACCEL32_GYRO32_NMEA

IMU data profile format

lidar_frame_azimuth_offsetintegerOptional

The configured azimuth offset for the lidar coordinate frame in millidegrees