ark::lidar::VelodyneSweepBuilder

Defined in header “ark/lidar/velodyne/sweep_builder.hh”.

Simple “Sweep” buidling class. Accumulates lidar packets until angle swept by the lidar sensor exceeds 360 degrees. The start angle is arbitrarially based on the first packet in the sweep and the builder assumes a constant stream of consecutive packets.

Methods

  • VelodyneSweepBuilder(std::string frame_id, std::unique_ptr< lidar::VelodyneCalibrationData > calibration)
    Constructor. Assumes you want packet-receive-time based timestamping.

  • VelodyneSweepBuilder(VelodyneSweepBuilderConfig config)
    Constructor. Initializes with the full configuration structure.

  • ~VelodyneSweepBuilder()
    Destructor.

  • VelodyneSweepBuilderStats statistics()
    Get the current internal statistics.

  • std::optional< VelodyneSweep > process_packet(const comms::UdpPacket & packet)
    Process the packet, returning the set of packets for the next completed sweep if one is available.

  • void set_last_synchronized_timestamp(std::chrono::steady_clock::time_point timestamp)
    Call to update the internal synchronized timestamp to this value (used for computing synchronized time when the timestamping method is set to use sensor timestamps).