Class VelodyneScanDecoder

Inheritance Relationships

Derived Types

Class Documentation

class VelodyneScanDecoder

Base class for Velodyne LiDAR decoder.

Subclassed by nebula::drivers::vlp16::Vlp16Decoder, nebula::drivers::vlp32::Vlp32Decoder, nebula::drivers::vls128::Vls128Decoder

Public Functions

VelodyneScanDecoder(VelodyneScanDecoder &&c) = delete
VelodyneScanDecoder &operator=(VelodyneScanDecoder &&c) = delete
VelodyneScanDecoder(const VelodyneScanDecoder &c) = delete
VelodyneScanDecoder &operator=(const VelodyneScanDecoder &c) = delete
virtual ~VelodyneScanDecoder() = default
VelodyneScanDecoder() = default
virtual void unpack(const std::vector<uint8_t> &packet, double packet_seconds) = 0

Virtual function for parsing and shaping VelodynePacket.

Parameters:

pandar_packet –

virtual bool parse_packet(const velodyne_msgs::msg::VelodynePacket &velodyne_packet) = 0

Virtual function for parsing VelodynePacket based on packet structure.

Parameters:

pandar_packet –

Returns:

Resulting flag

inline bool has_scanned()

Virtual function for getting the flag indicating whether one cycle is ready.

Returns:

Readied

virtual int points_per_packet() = 0

Calculation of points in each packet.

Returns:

# of points

virtual std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() = 0

Virtual function for getting the constructed point cloud.

Returns:

tuple of Point cloud and timestamp

virtual void reset_pointcloud(double time_stamp) = 0

Resetting point cloud buffer.

virtual void reset_overflow(double time_stamp) = 0

Resetting overflowed point cloud buffer.

Protected Functions

inline void check_and_handle_scan_complete(const std::vector<uint8_t> &packet, double packet_seconds, const uint32_t phase)

Checks if the current packet completes the ongoing scan. TODO: this has been moved from velodyne_hw_interface.cpp and is a temporary solution until the Velodyne decoder uses the same structure as Hesai/Robosense.

Parameters:

  • packet – The packet buffer to extract azimuths from

  • packet_seconds – The packet’s timestamp in seconds, including the sub-second part

  • phase – The sensor’s scan phase used for scan cutting

Protected Attributes

drivers::NebulaPointCloudPtr scan_pc_

Decoded point cloud.

drivers::NebulaPointCloudPtr overflow_pc_

Point cloud overflowing from one cycle.

double dual_return_distance_threshold_ = {}
double scan_timestamp_ = {}
std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration_

SensorConfiguration for this decoder.

std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration_

Calibration for this decoder.