ob::LiDARPointsFrame Class Reference

Define the LiDARPointsFrame class, which inherits from the Frame class. More...

#include <Frame.hpp>

Inheritance diagram for ob::LiDARPointsFrame:

Public Member Functions
	LiDARPointsFrame (const ob_frame *impl)
	Construct a new LiDARPointsFrame object with a given pointer to the internal frame object.
	~LiDARPointsFrame () noexcept override=default
Public Member Functions inherited from ob::Frame
	Frame (const ob_frame *impl)
	Construct a new Frame object with a given pointer to the internal frame object.
const ob_frame *	getImpl () const
	Get the internal (impl) frame object.
virtual	~Frame () noexcept
	Destroy the Frame object.
virtual OBFrameType	getType () const
	Get the type of frame.
virtual OBFormat	getFormat () const
	Get the format of the frame.
virtual uint64_t	getIndex () const
	Get the sequence number of the frame.
virtual uint8_t *	getData () const
	Get frame data.
virtual uint32_t	getDataSize () const
	Get the size of the frame data.
uint64_t	getTimeStampUs () const
	Get the hardware timestamp of the frame in microseconds.
uint64_t	getSystemTimeStampUs () const
	Get the system timestamp of the frame in microseconds.
uint64_t	getGlobalTimeStampUs () const
	Get the global timestamp of the frame in microseconds.
uint8_t *	getMetadata () const
	Get the metadata pointer of the frame.
uint32_t	getMetadataSize () const
	Get the size of the metadata of the frame.
bool	hasMetadata (OBFrameMetadataType type) const
	Check if the frame object has metadata of a given type.
int64_t	getMetadataValue (OBFrameMetadataType type) const
	Get the metadata value.
std::shared_ptr< StreamProfile >	getStreamProfile () const
	get StreamProfile of the frame
std::shared_ptr< Sensor >	getSensor () const
	get owner sensor of the frame
std::shared_ptr< Device >	getDevice () const
	get owner device of the frame
template<typename T>
bool	is () const
	Check if the runtime type of the frame object is compatible with a given type.
template<typename T>
std::shared_ptr< T >	as ()
	Convert the frame object to a target type.
template<typename T>
std::shared_ptr< const T >	as () const
	Convert the frame object to a target type.
void	copyFrameInfo (std::shared_ptr< const Frame > srcFrame)
	Copy the information of the source frame object to the destination frame object.
void	setSystemTimestampUs (uint64_t systemTimestampUs)
	Set the system timestamp of the frame in microseconds.
void	updateData (const uint8_t *data, uint32_t dataSize)
	Update the data of a frame.
void	updateMetadata (const uint8_t *metadata, uint32_t metadataSize)
	Update the metadata of the frame.
void	setStreamProfile (std::shared_ptr< const StreamProfile > profile)
	Set (override) the stream profile of the frame.
OBFrameType	type () const
virtual OBFormat	format () const
virtual uint64_t	index () const
virtual void *	data () const
virtual uint32_t	dataSize () const
uint64_t	timeStamp () const
uint64_t	timeStampUs () const
uint64_t	systemTimeStamp () const
uint64_t	systemTimeStampUs () const
uint64_t	globalTimeStampUs () const
uint8_t *	metadata () const
uint32_t	metadataSize () const

Additional Inherited Members
Protected Attributes inherited from ob::Frame
const ob_frame *	impl_ = nullptr
	The pointer to the internal (c api level) frame object.

Detailed Description

Define the LiDARPointsFrame class, which inherits from the Frame class.

The LiDARPointsFrame class is used to obtain LiDAR point cloud data.

Note

The pointcloud data format can be obtained from the Frame::getFormat() function. Witch can be one of the following formats:

• OB_FORMAT_LIDAR_POINT: OBLiDARPoint
• OB_FORMAT_LIDAR_SPHERE_POINT: OBLiDARSpherePoint
• OB_FORMAT_LIDAR_SCAN: OBLiDARScanPoint
• OB_FORMAT_LIDAR_CALIBRATION: LiDAR calibration mode point cloud, raw data
• The pointcloud data holds a set of points. To find the number of points, divide the dataSize by the structure size of the corresponding point type.

Definition at line 885 of file Frame.hpp.

Constructor & Destructor Documentation

LiDARPointsFrame()

ob::LiDARPointsFrame::LiDARPointsFrame ( const ob_frame * impl )

inlineexplicit

Construct a new LiDARPointsFrame object with a given pointer to the internal frame object.

Attention

After calling this constructor, the frame object will own the internal frame object, and the internal frame object will be deleted when the frame object is destroyed.

The internal frame object should not be deleted by the caller.

Please use the FrameFactory to create a Frame object.

Parameters

[in]

impl

The pointer to the internal frame object.

Definition at line 897 of file Frame.hpp.

~LiDARPointsFrame()

ob::LiDARPointsFrame::~LiDARPointsFrame ( )

overridedefaultnoexcept

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The documentation for this class was generated from the following file:

• Frame.hpp