Interpreting Lidar PointClouds

When to Use

Use this skill when the user asks what already-read lidar Coordinates, Intensity, TimeOffsetNs, Flags, IDs, normals, velocity, or other PointCloud tensors mean. Use reading-sensor-pointclouds instead when the user needs map/read code to obtain the tensors.

Inputs

Resolve inputs in this order: existing repository files and referenced snippets, explicit user request, then broader agent context.

• Lidar channel names and tensor values or summaries already available to the caller.
• Authored lidar settings that affect interpretation, especially elementsCoordsType, outputFrameOfReference, and includeInvalidPoints.
• Validity context: Counts, Flags, requested visualization, and whether invalid points should be included or filtered.
• Repository source snippets referenced below. Treat these snippets as the API source of truth.

Prerequisites