Class FullRotationAccumulator

Defined in File full_rotation_accumulator.hpp

Class Documentation

class FullRotationAccumulator

The FullRotationAccumulator creates LidarScan for the processors from packet data.

Public Functions

inline FullRotationAccumulator(const ouster::sensor::sensor_info &mdata, const ouster::sensor::packet_format &pf)

inline bool isBatchReady(): Returns true if the lidarscan is ready.

inline std::shared_ptr<ouster::LidarScan> getLidarScan(): Returns the ready lidarscan. If the lidarscan is not ready it will throw an exception.

inline std::chrono::nanoseconds getTimestamp(): Returns the ready timestamp. If the timestamp is not ready it will throw an exception.

inline void accumulate(const uint8_t *data, uint64_t override_ts): Takes packet data to batch it into a lidarscan.

inline uint64_t getPacketsAccumulated()