Class Vlp32Decoder

Defined in File vlp32_decoder.hpp

Inheritance Relationships

Base Type

public nebula::drivers::VelodyneScanDecoder (Class VelodyneScanDecoder)

Class Documentation

class Vlp32Decoder : public nebula::drivers::VelodyneScanDecoder 

Velodyne LiDAR decoder (VLP32)

Public Functions

explicit Vlp32Decoder(const std::shared_ptr<const drivers::VelodyneSensorConfiguration> &sensor_configuration, const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> &calibration_configuration)

Constructor.

Parameters:

sensor_configuration – SensorConfiguration for this decoder
calibration_configuration – Calibration for this decoder

virtual void unpack(const std::vector<uint8_t> &packet, double packet_seconds) override

Parsing and shaping VelodynePacket.

Parameters:: velodyne_packet –

virtual int points_per_packet() override

Calculation of points in each packet.

Returns:: # of points

virtual std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() override

Get the constructed point cloud.

Returns:: tuple of Point cloud and timestamp

virtual void reset_pointcloud(double time_stamp) override: Resetting point cloud buffer.

virtual void reset_overflow(double time_stamp) override: Resetting overflowed point cloud buffer.