98 lines
2.9 KiB
C
98 lines
2.9 KiB
C
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// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/Debug.h"
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#include "carla/Memory.h"
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#include "carla/sensor/RawData.h"
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#include "carla/sensor/data/LidarData.h"
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namespace carla {
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namespace sensor {
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class SensorData;
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namespace s11n {
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// ===========================================================================
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// -- LidarHeaderView --------------------------------------------------------
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// ===========================================================================
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/// A view over the header of a Lidar measurement.
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class LidarHeaderView {
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using Index = data::LidarData::Index;
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public:
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float GetHorizontalAngle() const {
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return reinterpret_cast<const float &>(_begin[Index::HorizontalAngle]);
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}
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uint32_t GetChannelCount() const {
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return _begin[Index::ChannelCount];
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}
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uint32_t GetPointCount(size_t channel) const {
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DEBUG_ASSERT(channel < GetChannelCount());
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return _begin[Index::SIZE + channel];
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}
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private:
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friend class LidarSerializer;
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explicit LidarHeaderView(const uint32_t *begin) : _begin(begin) {
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DEBUG_ASSERT(_begin != nullptr);
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}
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const uint32_t *_begin;
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};
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// ===========================================================================
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// -- LidarSerializer --------------------------------------------------------
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// ===========================================================================
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/// Serializes the data generated by Lidar sensors.
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class LidarSerializer {
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public:
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static LidarHeaderView DeserializeHeader(const RawData &data) {
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return LidarHeaderView{reinterpret_cast<const uint32_t *>(data.begin())};
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}
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static size_t GetHeaderOffset(const RawData &data) {
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auto View = DeserializeHeader(data);
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return sizeof(uint32_t) * (View.GetChannelCount() + data::LidarData::Index::SIZE);
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}
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template <typename Sensor>
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static Buffer Serialize(
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const Sensor &sensor,
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const data::LidarData &data,
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Buffer &&output);
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static SharedPtr<SensorData> Deserialize(RawData &&data);
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};
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// ===========================================================================
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// -- LidarSerializer implementation -----------------------------------------
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// ===========================================================================
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template <typename Sensor>
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inline Buffer LidarSerializer::Serialize(
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const Sensor &,
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const data::LidarData &data,
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Buffer &&output) {
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std::array<boost::asio::const_buffer, 2u> seq = {
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boost::asio::buffer(data._header),
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boost::asio::buffer(data._points)};
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output.copy_from(seq);
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return std::move(output);
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}
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} // namespace s11n
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} // namespace sensor
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} // namespace carla
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