ark::lidar::BarajaSpectrumDataPacket

Defined in header “ark/lidar/baraja/data.hh”.

A packed structure mapping the raw bits of a Baraja packet into a structure.

Variables

  • uint8_t version
    The version number of the packet.

  • uint32_t timestamp_us
    A timestamp, in microseconds, that is either the number of microseconds since the last hour (from the NMEA sentence), or the number of microseconds since the LIDAR has been on (reset each hour).

  • uint16_t cycle_time
    A scaling factor for packing per-point timestamp data.

  • uint8_t alarm
    Set to one if this packet crossed the configured alarm threshold.