Class DataProcessorInterface

Defined in File data_processor_interface.hpp

Inheritance Relationships

Derived Types

public sensor::IMUProcessor (Class IMUProcessor)
public sensor::ImageProcessor (Class ImageProcessor)
public sensor::PointcloudProcessor (Class PointcloudProcessor)
public sensor::ScanProcessor (Class ScanProcessor)

Class Documentation

class DataProcessorInterface

An interface for data processors using a lidar-specific API to create structured information like pointclouds, images, or directly publishing packets or IMU data.

Subclassed by sensor::IMUProcessor, sensor::ImageProcessor, sensor::PointcloudProcessor, sensor::ScanProcessor

Public Functions

inline DataProcessorInterface(): Constructor of the data processor interface.

virtual ~DataProcessorInterface() = default: Destructor of the data processor interface.

virtual bool process(const uint8_t *data, uint64_t override_ts = 0) = 0

Process a packet with the lidar-specific APIs.

Parameters:

data – packet input
override_ts – Timestamp in nanos to use to override the ts in the packet data. To use the packet data, pass as 0.

virtual void onActivate() = 0: Activating processor from lifecycle state transitions.

virtual void onDeactivate() = 0: Deactivating processor from lifecycle state transitions.