.asdp file #

An .asdp file holds the results of a scan as a list of points. Every line in an .asdp file (aside from header lines starting with #) represent a point.

lidar-driver sends the measurements in this format and lidar-client is writing those into .asdp files. The format is intended to be:

• compact in size, as it travels via serial connection in realtime during a scan
• easy and fast to produce in the driver, for the same reason
• extendable

v1 reference #

Header lines #

• Header lines start with #.
• Whitespaces between the starting # and the first non-whitespace character are ignored.
• The first header line must be version:

# version 1

• The following other headers are used:

# x-resolution <INTEGER>
# y-resolution <INTEGER>
# num-rows <INTEGER>

• x-resolution is the number of points in a row (along the X axis).
• y-resolution is the number of points in a full 360° column (along the Y axis).
• num-rows is the number of rows in the measurement. (Total number of points in measurement = x-resolution * num-rows)
• Any other header line is ignored in v1. This essentially means that # lines can be treated as comments.
• All header lines must precede all data lines.

Data lines #

• Data lines can’t start with #
• Data lines are CSV records (see RFC 4180):

<time-ms>,<x-position>,<y-position>,<distance>

• time-ms: Time in millis (since scanner) when point was captured. Can be used for benchmarkind and analysing performance.

• x-position: The position of the scanner along the X (horizontal) axis.

• y-position: The position of the scanner along the Y (vertical) axis.

• dist: Distance measured in the direction.

• Data lines must be in row-major order.