Struct LidarDeserializer

• Defined in File point_cloud_read.hpp

Struct Documentation

struct LidarDeserializer

Public Functions

explicit LidarDeserializer(std::string_view type)

sensor_msgs::msg::PointCloud2::ConstSharedPtr operator()(const std::shared_ptr<rclcpp::SerializedMessage> &msg) const

Public Members

mutable std::optional<point_cloud_transport::PointCloudCodec> codec

mutable std::shared_ptr<point_cloud_transport::SubscriberPlugin> decoder