Struct FrameConverter 

pub struct FrameConverter { /* private fields */ }

It reads columns of sensor data, and gathers points into sequence of frames.

It internally computes point cloud using PointCloudConverter. The columns must be pushed in the same order of LIDAR output. It keeps track of skipped columns and dropped frames.

Implementations

impl FrameConverter

pub fn from_config(config: Config) -> Self

Creates converter from config.

pub fn resolution(&self) -> (u16, u16)

Returns the resolution in (width, height) pair.

pub fn columns_per_revolution(&self) -> u16

Returns the number of columns per revolution.

pub fn push_column(&mut self, column: &Column) -> Result<Vec<Frame>>

Pushes new Column to converter.

pub fn push_packet<P>(&mut self, packet: P) -> Result<Vec<Frame>>

where P: AsRef<Packet>,

Pushes new Packet to converter.

pub fn finish(self) -> Option<Frame>

Consumes the instance and outputs last maybe incomplete frame.

Trait Implementations

impl Debug for FrameConverter

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.