Class CompactDataParser

Defined in File compact_parser.h

Class Documentation

class CompactDataParser

Public Static Functions

static CompactDataHeader ParseHeader(const uint8_t *scandata)

static CompactModuleMetaData ParseModuleMetaData(const uint8_t *scandata, uint32_t module_size, uint32_t telegramVersion, uint32_t &module_metadata_size)

static bool ParseModuleMeasurementData(const uint8_t *payload, uint32_t num_bytes, const sick_scansegment_xd::CompactDataHeader &compact_header, const sick_scansegment_xd::CompactModuleMetaData &meta_data, float azimuth_offset, sick_scansegment_xd::CompactModuleMeasurementData &measurement_data)

static bool ParseSegment(const uint8_t *payload, size_t bytes_received, sick_scansegment_xd::CompactSegmentData *segment_data, uint32_t &payload_length_bytes, uint32_t &num_bytes_required, float azimuth_offset = 0, int verbose = 0)

static bool Parse(const ScanSegmentParserConfig &parser_config, const std::vector<uint8_t> &payload, fifo_timestamp system_timestamp, sick_scan_xd::SickCloudTransform &add_transform_xyz_rpy, ScanSegmentParserOutput &result, bool use_software_pll = true, bool verbose = false)

static void SetLayerElevationTable(const std::vector<int> &layer_elevation_table_mdeg)

static int GetLayerIDfromElevation(float layer_elevation_rad)

static float GetElevationDegFromLayerIdx(int layer_idx)