I try to get full 360 deg lidar data from lidar sample record data in /usr/local/driveworks-2.2/data/samples/sensors/lidar/lidar:top:hdl64e.bin using ‘lidar_replay’ sample code.
In this sample code, I think that I can use computeSpin() function to get a one frame data of lidar from nextPacket->pointsXYZI (I want to save x,y,z,intensity to text file)
But I don’t know how to get full frame data. Because from nextPacket->pointsXYZI, it is possible to get a one layer of data (not full 360 deg frame data).
I check the result text file and visualize it, however, I can only get a single plane of data (i think it is bottom lidar data)
how can I get a full 360 deg one frame lidar data?
++ and I think when running while loop in computeSpin(), each iteration ‘nextPacket->pointsXYZI’ should give me a partial data of full frame data but i get a only partial data looks like above. each iteration, ‘nextPacket->pointsXYZI’ return partial data (also I save partial data at txt file) and at the end of spin I should have all one frame data. But things don’t go as I expected.