21#include <boost/format.hpp>
23#include "livox_lidar_api.h"
24#include "livox_lidar_def.h"
26#include "modules/drivers/lidar/livox/proto/livox.pb.h"
40 const int& point_size,
const uint64_t& pkt_timestamp,
41 const uint32_t& time_interval);
44 LivoxLidarEthernetPacket* data,
void* client_data);
53 const std::shared_ptr<livox::LivoxScan>& scan_message)
override;
void ReadScanCallback(const std::shared_ptr< livox::LivoxScan > &scan_message) override
uint64_t last_pointcloud_pub_timestamp_
void PreparePointsMsg(PointCloud &msg)
void BinaryDataProcess(const unsigned char *data, const int &data_type, const int &point_size, const uint64_t &pkt_timestamp, const uint32_t &time_interval)
void CheckTimestampAndPublishPointCloud()
size_t GetEthPacketByteSize(LivoxLidarEthernetPacket *data)
void PointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket *data, void *client_data)
std::deque< PointXYZIT > integral_queue_
#define CYBER_REGISTER_COMPONENT(name)