Unitree Unilidar SDK User Manual page 7

cloud size: the number of points in the point cloud.
x,y,z: the coordinates of the point in the x, y, and z directions.
intensity: the intensity of the reflected light of the point.
time: the time difference of the point relative to the point cloud timestamp (stamp).
ring: the number of the laser ring to which the point belongs.
quaternion (x, y, z, w): the quaternion vector [x, y, z, w] of the IMU.
Notice:
In Ubuntu, accessing a serial port device requires the appropriate permissions. If
your C++ program does not have sufficient permissions to access the serial port
device, you will get a **"Permission denied"** error.
To solve this error, you can use the following command to add the current user to
the dialout group:
```
sudo usermod -a -G dialout $USER
```
After adding the user to the dialout group, you need to log out and log back in
for the changes to take effect.
2023 Unitree Robotics. All rights reserved.
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