@@ -9,52 +9,52 @@ These definitions can be found in the `nebula_common/include/point_types.hpp`.
99
1010| Field | Type | Units | Description |
1111| ----------- | -------- | ----- | ---------------------------------------------------------------------------- |
12- | ` x ` | ` float ` | ` m ` | The point's cartesian x coordinate. |
13- | ` y ` | ` float ` | ` m ` | The point's cartesian y coordinate. |
14- | ` z ` | ` float ` | ` m ` | The point's cartesian z coordinate. |
12+ | ` x ` | ` float ` | ` m ` | Cartesian x coordinate. |
13+ | ` y ` | ` float ` | ` m ` | Cartesian y coordinate. |
14+ | ` z ` | ` float ` | ` m ` | Cartesian z coordinate. |
1515| padding | 4 bytes | | |
16- | ` intensity ` | ` float ` | | The intensity of the return as reported by the sensor. |
17- | ` ring ` | ` uint16 ` | | The ID of the ring the point is part of. Only defined for rotational LiDARs. |
16+ | ` intensity ` | ` float ` | | Intensity of the return as reported by the sensor. |
17+ | ` ring ` | ` uint16 ` | | Ring ID - only defined for rotational LiDARs. |
1818
1919## PointXYZICATR
2020
2121| Field | Type | Units | Description |
2222| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
23- | ` x ` | ` float ` | ` m ` | The point's cartesian x coordinate. |
23+ | ` x ` | ` float ` | ` m ` | Cartesian x coordinate. |
2424| ` y ` | ` float ` | ` m ` | The point's cartesian y coordinate. |
25- | ` z ` | ` float ` | ` m ` | The point's cartesian z coordinate. |
25+ | ` z ` | ` float ` | ` m ` | Cartesian z coordinate. |
2626| padding | 4 bytes | | |
27- | ` intensity ` | ` uint8 ` | | The intensity of the return as reported by the sensor. |
27+ | ` intensity ` | ` uint8 ` | | Intensity of the return as reported by the sensor. |
2828| ` channel ` | ` uint16 ` | | The ID of the laser channel that produced the point. |
29- | ` azimuth ` | ` float ` | ` degrees ` | azimuth in polar coordinates. |
30- | ` timestamp ` | ` uint32 ` | ` ns ` | The time the point was detected relative to the pointcloud timestamp. |
31- | ` return type ` | ` uint8 ` | | Whether the point was the first, strongest, last, etc. of multiple returns . |
29+ | ` azimuth ` | ` float ` | ` degrees ` | Azimuth in polar coordinates. |
30+ | ` timestamp ` | ` uint32 ` | ` ns ` | Time of detection relative to the pointcloud timestamp. |
31+ | ` return type ` | ` uint8 ` | | Return (echo) type . |
3232
3333## PointXYZIRADT
3434
3535| Field | Type | Units | Description |
3636| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
37- | ` x ` | ` float ` | ` m ` | The point's cartesian x coordinate. |
38- | ` y ` | ` float ` | ` m ` | The point's cartesian y coordinate. |
39- | ` z ` | ` float ` | ` m ` | The point's cartesian z coordinate. |
37+ | ` x ` | ` float ` | ` m ` | Cartesian x coordinate. |
38+ | ` y ` | ` float ` | ` m ` | Cartesian y coordinate. |
39+ | ` z ` | ` float ` | ` m ` | Cartesian z coordinate. |
4040| padding | 4 bytes | | |
41- | ` intensity ` | ` float ` | | The intensity of the return as reported by the sensor. |
42- | ` return type ` | ` uint8 ` | | Whether the point was the first, strongest, last, etc. of multiple returns . |
43- | ` azimuth ` | ` float ` | ` degrees ` | The point's azimuth in polar coordinates. |
44- | ` distance ` | ` float ` | ` m ` | The point's distance from the sensor origin. |
45- | ` timestamp ` | ` double ` | ` ns ` | The time the point was detected relative to the pointcloud timestamp. |
41+ | ` intensity ` | ` float ` | | Intensity of the return as reported by the sensor. |
42+ | ` return type ` | ` uint8 ` | | Return (echo) type . |
43+ | ` azimuth ` | ` float ` | ` degrees ` | Azimuth in polar coordinates. |
44+ | ` distance ` | ` float ` | ` m ` | Distance from the sensor origin. |
45+ | ` timestamp ` | ` double ` | ` ns ` | Time of detection relative to the pointcloud timestamp. |
4646
4747## NebulaPoint = PointXYZIRCAEDT
4848
4949| Field | Type | Units | Description |
5050| ------------- | -------- | ----- | --------------------------------------------------------------------------- |
51- | ` x ` | ` float ` | ` m ` | The point's cartesian x coordinate. |
52- | ` y ` | ` float ` | ` m ` | The point's cartesian y coordinate. |
53- | ` z ` | ` float ` | ` m ` | The point's cartesian z coordinate. |
54- | ` intensity ` | ` uint8 ` | | The intensity of the return as reported by the sensor. |
55- | ` return type ` | ` uint8 ` | | Whether the point was the first, strongest, last, etc. of multiple returns . |
56- | ` channel ` | ` uint16 ` | | The ID of the laser channel that produced the point . |
57- | ` azimuth ` | ` float ` | ` rad ` | The point's azimuth in polar coordinates. |
58- | ` elevation ` | ` float ` | ` rad ` | The point's elevation in polar coordinates. |
59- | ` distance ` | ` float ` | ` m ` | The point's distance from the sensor origin. |
60- | ` timestamp ` | ` uint32 ` | ` ns ` | The time the point was detected relative to the pointcloud timestamp. |
51+ | ` x ` | ` float ` | ` m ` | Cartesian x coordinate. |
52+ | ` y ` | ` float ` | ` m ` | Cartesian y coordinate. |
53+ | ` z ` | ` float ` | ` m ` | Cartesian z coordinate. |
54+ | ` intensity ` | ` uint8 ` | | Intensity of the return as reported by the sensor. |
55+ | ` return type ` | ` uint8 ` | | Return (echo) type . |
56+ | ` channel ` | ` uint16 ` | | Laser channel ID . |
57+ | ` azimuth ` | ` float ` | ` rad ` | Azimuth in polar coordinates. |
58+ | ` elevation ` | ` float ` | ` rad ` | Eevation in polar coordinates. |
59+ | ` distance ` | ` float ` | ` m ` | Distance from the sensor origin. |
60+ | ` timestamp ` | ` uint32 ` | ` ns ` | Time of detection relative to the pointcloud timestamp. |
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