Template Class HesaiDecoder

• Defined in File hesai_decoder.hpp

Nested Relationships

Nested Types

• Struct HesaiDecoder::DecodeFrame

Inheritance Relationships

Base Type

• public nebula::drivers::HesaiScanDecoder (Class HesaiScanDecoder)

Class Documentation

template<typename SensorT>
class HesaiDecoder : public nebula::drivers::HesaiScanDecoder

Public Functions

inline explicit HesaiDecoder(const std::shared_ptr<const HesaiSensorConfiguration> &sensor_configuration, const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> &correction_data, const std::shared_ptr<loggers::Logger> &logger, const std::shared_ptr<FunctionalSafetyDecoderTypedBase<typename SensorT::packet_t>> &functional_safety_decoder, const std::shared_ptr<PacketLossDetectorTypedBase<typename SensorT::packet_t>> &packet_loss_detector, std::shared_ptr<point_filters::BlockageMaskPlugin> blockage_mask_plugin)

Constructor.

Parameters:

• sensor_configuration – SensorConfiguration for this decoder

• correction_data – Calibration data for this decoder

inline virtual void set_pointcloud_callback(pointcloud_callback_t callback) override

inline virtual PacketDecodeResult unpack(const std::vector<uint8_t> &packet) override

Parses PandarPacket and add its points to the point cloud.

Parameters:

packet – The incoming PandarPacket

Returns:

Metadata on success, or decode error on failure. Performance counters are always returned.