ark::lidar::VelodyneSweepBuilderConfig

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

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Configuration when constructing a sweep builder.

Variables

• std::string frame_id
  The transform frame to publish the sweeps in.

• std::unique_ptr< lidar::VelodyneCalibrationData > calibration
  Calibration information to apply when decoding packets.

• VelodyneSweepTimestampingMethod method= VelodyneSweepTimestampingMethod::PacketReceiveTime
  The method for timestamping the data.