Struct RSDecoderParam

Defined in File driver_param.hpp

Struct Documentation

struct RSDecoderParam

< LiDAR decoder parameter

Public Functions

inline void print() const

Public Members

float min_distance = 0.0f: min/max distances of point cloud range. valid if min distance or max distance > 0

float max_distance = 0.0f

bool use_lidar_clock = false: true: use LiDAR clock as timestamp; false: use system clock as timestamp

bool dense_points = false: true: discard NAN points; false: reserve NAN points

bool ts_first_point = false: true: time-stamp point cloud with the first point; false: with the last point;

bool wait_for_difop = true: true: start sending point cloud until receive difop packet

RSTransformParam transform_param

Used to transform points.

Theses parameters are only for mechanical Lidars.

bool config_from_file = false: Internal use only for debugging.

std::string angle_path = "": Internal use only for debugging.

float start_angle = 0.0f: Start angle of point cloud.

float end_angle = 360.0f: End angle of point cloud.

SplitFrameMode split_frame_mode = SplitFrameMode::SPLIT_BY_ANGLE : 1: Split frames by split_angle; 2: Split frames by fixed number of blocks; 3: Split frames by custom number of blocks (num_blks_split)

float split_angle = 0.0f: Split angle(degree) used to split frame, only be used when split_frame_mode=1.

uint16_t num_blks_split = 1: Number of packets in one frame, only be used when split_frame_mode=3.