ark::lidar::BarajaSpectrumReturn

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

Structure representing the data for a single Baraja Spectrum return.

Variables

  • std::chrono::steady_clock::time_point capture_time
    Time (on the device) that this data was captured.

  • float reflectivity
    Raw reflectivity value (0-100).

  • bool likely_retro_reflector
    If it’s likely this point is from a retro-reflector.

  • float range_meters
    The range of the point, in meters.

  • BarajaSpectrumReturnType type
    Return type.

  • uint8_t sensorhead
    Sensor head (0-3).

  • Eigen::Vector3f position
    Three-D position of the object, in sensor frame.