lidar_point.hpp

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#pragma once
#include <cstddef>
#include <cstdint>
 
namespace LidarPoint {
 
constexpr size_t POINT_STEP = 26;
constexpr size_t OFFSET_X = 0;
constexpr size_t OFFSET_Y = 4;
constexpr size_t OFFSET_Z = 8;
constexpr size_t OFFSET_INTENSITY = 12;
constexpr size_t OFFSET_RING = 16;
constexpr size_t OFFSET_TIMESTAMP = 18;
 
constexpr inline size_t PointX(size_t idx) { return idx * POINT_STEP + OFFSET_X; }
constexpr inline size_t PointY(size_t idx) { return idx * POINT_STEP + OFFSET_Y; }
constexpr inline size_t PointZ(size_t idx) { return idx * POINT_STEP + OFFSET_Z; }
constexpr inline size_t PointIntensity(size_t idx) { return idx * POINT_STEP + OFFSET_INTENSITY; }
constexpr inline size_t PointRing(size_t idx) { return idx * POINT_STEP + OFFSET_RING; }
constexpr inline size_t PointTimestamp(size_t idx) { return idx * POINT_STEP + OFFSET_TIMESTAMP; }
 
}  // namespace LidarPoint