Volume Map
A message containing the volume map of one volume zone.
Field | Type | Default | Unit |
---|---|---|---|
timestamp |
uint64 |
- |
ns |
Timestamp of the lidar frame in which the volume map was calculated |
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generator_uuid |
string |
- |
- |
The uuid of the entity generating this state |
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generator_name |
string |
- |
- |
The name of the entity generating this state |
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shape |
- |
- |
|
The shape of the volume map, defining the pose and the dimension of the volume map in world frame. The shape is similar to the shape of the input zone with the following difference: - shape.pose.position: (x=zone.pose.position.x, y=zone.pose.position.y, z=0) - shape.pose.rotation: (roll=0, pitch=0, yaw=zone.pose.rotation.yaw) - shape.box.dimension: (x=zone.box.dimension.x, y=zone.box.dimension.y,z=0) |
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tiles |
- |
- |
|
Volume map 'tiles' as defined in Tiles, providing information for each tile in the volume map. |
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tile_size |
float |
- |
m |
The tile size of the volume map (dimension of one tile in x and y direction) |
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volume |
float |
- |
m^3 |
The current volume of the zone |
Tiles
Tiles of the volume map
Field | Type | Default | Unit |
---|---|---|---|
length |
uint32 |
- |
- |
Number of tiles |
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index |
bytes |
- |
- |
Volume Map Tile Index X (Int16) and Y (Int16) (can be negative and positive) The indices of Volume Tiles are expressed w.r.t the Volume Map coordinate system. The tile with index (0,0) will contain the points from [0, tile_size), [0, tile_size). That means that (0,0,0) of the Volume Map frame does not coincide with the center of the tile with index (0,0) but with the crossing of the 4 tiles [(0,0), (0, -1,), (-1,-1), (-1,0)]. Type: (Int16, Int16) |
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height |
bytes |
- |
m |
Height per tile, ordered ascending Type: Float32 |
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std_deviation |
optional bytes |
- |
- |
Standard Deviation per tile Type: Float32 |
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number_points |
optional bytes |
- |
- |
Number Points per tile Type: UInt16 |