Frame

This section describes the contents of a point cloud frame.

Table 1. Available fields in blickfeld.core_processing.data.Frame
Field Type Default Unit

id

uint64

-

-

Incremental frame ID since startup of the device.

timestamp

uint64

-

ns

Timestamp of start of frame. Timestamp is synchronized if Time Synchronization is configured.

binary

Binary

-

-

Binary buffer with point cloud vectors

Binary

The fields of a point cloud frame are encoded as binary arrays. Binary types instead of native Protobuf types are used to improve the performance.

All byte arrays are encoded in Little Endian.
Table 2. Available fields in blickfeld.core_processing.data.Frame.Binary
Field Type Default Unit

length

uint32

-

-

Number of entries in arrays below.

cartesian

optional bytes

-

m

Cartesian coordinates. 3-dimensional array in row-major format with [x, y, z] tuples. Type: Float32

photon_count

optional bytes

-

-

Estimated number of photons. 1-dimensional array. Type: UInt16

direction_id

optional bytes

-

-

Unique direction identifiers within a frame and scan pattern. 1-dimensional array. Type: UInt32

timestamp

optional bytes

-

ns

Unix timestamp of points. Type: UInt64

metadata

optional bytes

-

-

Arbitrary metadata for annotation of the binary data fields. 1-dimensional array. Type: UInt16