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Class nebula::drivers::SampleDecoder

ClassList > nebula > drivers > SampleDecoder

Decoder that accumulates incoming raw packets and marks scan boundaries. More...

  • #include <sample_decoder.hpp>

Public Types

Type Name
typedef std::function< void(const NebulaPointCloudPtr &pointcloud, double timestamp_s)> pointcloud_callback_t
Callback type for publishing complete point clouds.

Public Functions

Type Name
SampleDecoder (FieldOfView< float, Degrees > fov, pointcloud_callback_t pointcloud_cb)
Constructor.
void set_pointcloud_callback (pointcloud_callback_t pointcloud_cb)
Replace the callback used for completed scans.
PacketDecodeResult unpack (const std::vector< uint8_t > & packet)
Decode a single UDP packet.

Detailed Description

The tutorial implementation emits empty pointclouds so the ROS pipeline can be exercised without inventing fake sensor geometry.

Public Types Documentation

typedef pointcloud_callback_t

Callback type for publishing complete point clouds. 

using nebula::drivers::SampleDecoder::pointcloud_callback_t =  std::function<void(const NebulaPointCloudPtr & pointcloud, double timestamp_s)>;

Parameters:

  • pointcloud The decoded point cloud
  • timestamp_s Timestamp of the scan in seconds

Public Functions Documentation

function SampleDecoder

Constructor. 

explicit nebula::drivers::SampleDecoder::SampleDecoder (
    FieldOfView< float, Degrees > fov,
    pointcloud_callback_t pointcloud_cb
)

Parameters:

  • fov Field of view to crop the point cloud to
  • pointcloud_cb Callback invoked when a full scan is assembled

function set_pointcloud_callback

Replace the callback used for completed scans. 

void nebula::drivers::SampleDecoder::set_pointcloud_callback (
    pointcloud_callback_t pointcloud_cb
)

function unpack

Decode a single UDP packet. 

PacketDecodeResult nebula::drivers::SampleDecoder::unpack (
    const std::vector< uint8_t > & packet
)

Parameters:

  • packet Raw packet bytes from the sensor

Returns:

PacketDecodeResult with metadata on success, or DecodeError on failure.

Postcondition:

performance_counters.decode_time_ns is always set.

The documentation for this class was generated from the following file src/nebula_sample/nebula_sample_decoders/include/nebula_sample_decoders/sample_decoder.hpp