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Appendix
8.1.3 Data Output
These features are used to check the status and data of YRL3V2 through the API.
No. Output Function Name
Explanation
1
int GetCartesianOutputsWithIntensity(double _SystemTime,
std::vector <float>& _IntensityArray,
std::vector <float>& _XCoordArray,
std::vector <float>& _YCoordArray,
std::vector <float>& _ZCoordArray);
Get the reflection intensity measured
and 3D orthogonal coordinates
2
int GetSphericalOutputsWithIntensity(double _SystemTime,
std::vector <float>& _IntensityArray,
std::vector <float>& _RangeArray,
std::vector <float>& _HorizontalAngleArray,
std::vector <float>& _VerticalAngleArray);
Get the reflection intensity measured
and 3D spherical coordinates
3
void GetDPR(float &dpr)
Get the data packet rate
No. Output Function Parameter
Name
Unit
Description
1
_SystemTime
sec
timestamp
2
_IntensityArray
N/A
Intensity
3
_RangeArray
m
Range
4
_HorizontalAngleArray
radian
Horizontal angle
5
_VerticalAngleArray
radian
Vertical angle
6
_XCoordArray
m
X coordinates
7
_YCoordArray
m
Y coordinates
8
_ZCoordArray
m
Z coordinates
