confused when use sick_scan_xd api with picoscan about sick_scan_xd

[rostest]

Thanks for your feedback. picoScan and multiScan lidars provide segmented scan data, where each segment covers a portion of the full 360-degree scan. The API callback function registered with SickScanApiRegisterCartesianPointCloudMsg receives both segmented and full frame point clouds in different sizes.

The segment index is provided in msg->segment_idx. It is either a value >= 0 for a single segment, or -1 for a full frame point cloud. The full frame point cloud is just the concatenation of all segments covering a full 360-degree scan. If you want to process the full point cloud, you can use the one with msg->segment_idx < 0 and ignore all other segment point clouds. See https://github.com/SICKAG/sick_scan_xd/blob/develop/doc/sick_scan_segment_xd.md for more information.

[Ts-sound]

thanks！