SurfacePointCloud
This section describes point cloud data (unresampled surface data), which is produced when the sensor is in Surface mode and uniform spacing is disabled. It has two sub-sections: attributes and data.
The attribute section has only one row of data.
| Field | Description |
|---|---|
| Frame | Total number of frames |
| Source | Source (for example, 0 for Top) |
| Time | Stamp time |
| Encoder | Stamp encoder |
| Z Encoder | Stamp encoder Z |
| Inputs | Stamp inputs |
| Row Count | Number of rows |
| Column Count | Number of columns |
| X Offset | X offset (mm) |
| Y Offset | Y offset (mm) |
| Z Offset | Z offset (mm) |
The data section contains the data of a single surface scan. The first row (header) can be ignored.
The data are (x,y,z) tuples expanded into a flat list of values, for example:
p0x, p0y, p0z, p1x, p1y, p1z, ..., pnx, pny, pnz
p(n+1)x, p(n+1)y, p(n+1)z, ...
...
Because the data has multiple rows and columns, it forms a rectangular grid of (x,y,z) tuples. The rows and columns do not correspond exactly to X and Y values, but suggest adjacency. i.e. positions with consecutive row indices or column indices are generally adjacent to each other in (x,y,z) coordinates.
The values are provided in mm, with the resolution and offset already calculated in the values.