How to extract xyz from packets using dwSensorLidar_readPacket?

Autonomous Vehicles DRIVE PX 2 DriveWorks
1

I will try to parse the packet read from dwSensorLidar_readPacket by referring to the samples. Because I want to convert to another xyz format.

See below code from lidar_accumulator

dwStatus status = dwSensorLidar_readPacket(&nextPacket, 1000, gLidarSensor);
            if (status == DW_SUCCESS) {
                CHECK_DW_ERROR(dwLidarAccumulator_addPacket(nextPacket, gFullLidarAccumulator));
                CHECK_DW_ERROR(dwLidarAccumulator_addPacket(nextPacket, gSectLidarAccumulator));
                CHECK_DW_ERROR(dwSensorLidar_returnPacket(nextPacket, gLidarSensor));
            }

I checked the dwLidarDecodedPacket API via doc.

  • casted to one of the point structures dwLidarPointXYZI
    So, I want to have the logic to extract xyz or casting dwLidarPointXYZI(float xyz) the (const void * points) from the dwLidarDecodedPacket.

Could you please guide to this?

2

Hi forgott,

Sorry that I am not quite sure about your request: " I want to have the logic to extract xyz or casting dwLidarPointXYZI(float xyz) the (const void * points) from the dwLidarDecodedPacket.".

Do you mean how to extract pure float point value from DecodedPacked?

3

Thank you for your comment. My question includes several things.

The first is how to cast in a programming language
like this, auto pktPts = reinterpret_cast<const dwPoint *>(nextPacket->points);
I do not want to use auto. I want to cast to the appropriate type.

The second is xyz(from dwLidarPointXYZI) a simple world coordinate? or homogeneous?

4

Please try with below

const float32_t *pPoints = reinterpret_cast<const float32_t*>(nextPacket->points);

For question 2, please refer to driveworks API document. I think the coordinate system is defined by what Lidar you are using.