Nebula point cloud types

Nebula currently supports the below point cloud output types. However, it can easily be extended to support other custom point cloud types.

These definitions can be found in the nebula_common/include/point_types.hpp.

PointXYZIR

Field	Type	Units	Description
x	float	m	Cartesian x coordinate.
y	float	m	Cartesian y coordinate.
z	float	m	Cartesian z coordinate.
padding	4 bytes
intensity	float		Intensity of the return as reported by the sensor.
ring	uint16		Ring ID - only defined for rotational LiDARs.

PointXYZICATR

Field	Type	Units	Description
x	float	m	Cartesian x coordinate.
y	float	m	The point's cartesian y coordinate.
z	float	m	Cartesian z coordinate.
padding	4 bytes
intensity	uint8		Intensity of the return as reported by the sensor.
channel	uint16		The ID of the laser channel that produced the point.
azimuth	float	degrees	Azimuth in polar coordinates.
timestamp	uint32	ns	Time of detection relative to the pointcloud timestamp.
return type	uint8		Return (echo) type.

PointXYZIRADT

Field	Type	Units	Description
x	float	m	Cartesian x coordinate.
y	float	m	Cartesian y coordinate.
z	float	m	Cartesian z coordinate.
padding	4 bytes
intensity	float		Intensity of the return as reported by the sensor.
return type	uint8		Return (echo) type.
azimuth	float	degrees	Azimuth in polar coordinates.
distance	float	m	Distance from the sensor origin.
timestamp	double	ns	Time of detection relative to the pointcloud timestamp.

NebulaPoint = PointXYZIRCAEDT

Field	Type	Units	Description
x	float	m	Cartesian x coordinate.
y	float	m	Cartesian y coordinate.
z	float	m	Cartesian z coordinate.
intensity	uint8		Intensity of the return as reported by the sensor.
return type	uint8		Return (echo) type.
channel	uint16		Laser channel ID.
azimuth	float	rad	Azimuth in polar coordinates.
elevation	float	rad	Elevation in polar coordinates.
distance	float	m	Distance from the sensor origin.
timestamp	uint32	ns	Time of detection relative to the pointcloud timestamp.