Ulmsserver

Laser scanner server

laser scan logfile

Filename for laser 0 is

laser_0.log

The file looks like this

1216815130.160302 25905 0.5 -90 361 5.789 5.782 5.806 5.776 7.619 7.810 7.931 5.803 5.793 ...
1216815130.213813 25907 0.5 -90 361 5.751 5.767 5.777 5.774 5.785 5.784 7.854 7.370 5.795 ...
1216815130.267325 25909 0.5 -90 361 7.628 8.130 5.770 5.780 5.755 5.787 5.802 5.793 7.828 ...

The fields are:

1 Timestamp (linux timestamp, valid to about 20ms)
2 scan number (e.g. 25909), 
3 resolution (here 0.5 degree), 
4 first angle (e.g. -90 degree), 
5 number of measurements (e.g. 361), 
6 first range (5.789 in meters), 
7 second range (5.782) 
8 ... and so forth.