Class HesaiScanDecoder
Defined in File hesai_scan_decoder.hpp
Inheritance Relationships
Derived Type
public nebula::drivers::HesaiDecoder< SensorT >(Template Class HesaiDecoder)
Class Documentation
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class HesaiScanDecoder
Base class for Hesai LiDAR decoder.
Subclassed by nebula::drivers::HesaiDecoder< SensorT >
Public Types
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using pointcloud_callback_t = std::function<void(const NebulaPointCloudPtr &pointcloud, double timestamp_s)>
Public Functions
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HesaiScanDecoder(HesaiScanDecoder &&c) = delete
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HesaiScanDecoder &operator=(HesaiScanDecoder &&c) = delete
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HesaiScanDecoder(const HesaiScanDecoder &c) = delete
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HesaiScanDecoder &operator=(const HesaiScanDecoder &c) = delete
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virtual ~HesaiScanDecoder() = default
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HesaiScanDecoder() = default
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virtual PacketDecodeResult unpack(const std::vector<uint8_t> &packet) = 0
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.
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virtual void set_pointcloud_callback(pointcloud_callback_t callback) = 0
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using pointcloud_callback_t = std::function<void(const NebulaPointCloudPtr &pointcloud, double timestamp_s)>