Function opensw::parseLaserPoints

Function Documentation

std::vector<LaserPoint> opensw::parseLaserPoints(const std::string &base64_data, bool fill_gaps = false)

Parse laser points from base64 encoded laser point data.

See documentation of inflate function.

After the base64 encoded data is decoded and inflated, the memory layout of the data is 12 bytes per point:

[0 - 3] distance (float) [4 - 7] angle (float) [8] valid (uint8) [9 - 11] padding

Parameters:

  • base64_data – [in] The base64 encoded data string.

  • fill_gaps – [in] Whether or not to fill in any single point gaps with ‘invalid’ points.

Returns:

Parsed laser points, sorted by ascending angle, if successful, empty otherwise.