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CObservationVelodyneScan.cpp File Reference
#include "obs-precomp.h"
#include <mrpt/obs/CObservationVelodyneScan.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/utils/round.h>
#include <mrpt/utils/CStream.h>
Include dependency graph for CObservationVelodyneScan.cpp:

Go to the source code of this file.

Classes

struct  PointCloudStorageWrapper
 Auxiliary class used to refactor CObservationVelodyneScan::generatePointCloud() More...
 

Functions

double HDL32AdjustTimeStamp (int firingblock, int dsr)
 
double VLP16AdjustTimeStamp (int firingblock, int dsr, int firingwithinblock)
 
static void velodyne_scan_to_pointcloud (const CObservationVelodyneScan &scan, const CObservationVelodyneScan::TGeneratePointCloudParameters &params, PointCloudStorageWrapper &out_pc)
 

Variables

CSinCosLookUpTableFor2DScans velodyne_sincos_tables
 
const int SCANS_PER_FIRING = 16
 
const float VLP16_BLOCK_TDURATION = 110.592f
 
const float VLP16_DSR_TOFFSET = 2.304f
 
const float VLP16_FIRING_TOFFSET = 55.296f
 
const float HDR32_DSR_TOFFSET = 1.152f
 
const float HDR32_FIRING_TOFFSET = 46.08f
 

Function Documentation

double HDL32AdjustTimeStamp ( int  firingblock,
int  dsr 
)
Parameters
dsr[us]

Definition at line 171 of file CObservationVelodyneScan.cpp.

References HDR32_DSR_TOFFSET, and HDR32_FIRING_TOFFSET.

Referenced by velodyne_scan_to_pointcloud().

static void velodyne_scan_to_pointcloud ( const CObservationVelodyneScan scan,
const CObservationVelodyneScan::TGeneratePointCloudParameters params,
PointCloudStorageWrapper out_pc 
)
static

Definition at line 191 of file CObservationVelodyneScan.cpp.

References PointCloudStorageWrapper::add_point(), mrpt::obs::T2DScanProperties::aperture, ASSERT_BELOW_, mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::blocks, mrpt::obs::CObservationVelodyneScan::BLOCKS_PER_PACKET, mrpt::obs::CObservationVelodyneScan::calibration, mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues::ccos, mrpt::obs::VelodyneCalibration::PerLaserCalib::cosVertCorrection, mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues::csin, mrpt::obs::CObservationVelodyneScan::laser_return_t::distance, mrpt::math::distance(), mrpt::obs::CObservationVelodyneScan::DISTANCE_RESOLUTION, mrpt::obs::VelodyneCalibration::PerLaserCalib::distanceCorrection, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepStrongest, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterBynROI, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterByROI, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterOutIsolatedPoints, mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp, HDL32AdjustTimeStamp(), mrpt::obs::CObservationVelodyneScan::raw_block_t::header, mrpt::obs::VelodyneCalibration::PerLaserCalib::horizontalOffsetCorrection, int(), mrpt::obs::CObservationVelodyneScan::laser_return_t::intensity, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::isolatedPointsFilterDistance, mrpt::obs::VelodyneCalibration::laser_corrections, mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::laser_return_mode, mrpt::obs::CObservationVelodyneScan::raw_block_t::laser_returns, mrpt::obs::CObservationVelodyneScan::LOWER_BANK, M_PI, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxAzimuth_deg, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance, mrpt::obs::CObservationVelodyneScan::maxRange, min, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minAzimuth_deg, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minDistance, mrpt::obs::CObservationVelodyneScan::minRange, mrpt::obs::T2DScanProperties::nRays, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_min, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min, mrpt::obs::CObservationVelodyneScan::RETMODE_DUAL, mrpt::obs::T2DScanProperties::rightToLeft, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_min, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min, mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation, mrpt::obs::CObservationVelodyneScan::ROTATION_MAX_UNITS, mrpt::utils::round(), mrpt::obs::CObservationVelodyneScan::scan_packets, SCANS_PER_FIRING, mrpt::obs::VelodyneCalibration::PerLaserCalib::sinVertCorrection, THROW_EXCEPTION, mrpt::obs::CObservation::timestamp, mrpt::system::timestampAdd(), mrpt::obs::CObservationVelodyneScan::UPPER_BANK, velodyne_sincos_tables, mrpt::obs::VelodyneCalibration::PerLaserCalib::verticalOffsetCorrection, VLP16AdjustTimeStamp(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud(), and mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory().

double VLP16AdjustTimeStamp ( int  firingblock,
int  dsr,
int  firingwithinblock 
)
Parameters
firingwithinblock[us]

Definition at line 177 of file CObservationVelodyneScan.cpp.

References VLP16_BLOCK_TDURATION, VLP16_DSR_TOFFSET, and VLP16_FIRING_TOFFSET.

Referenced by velodyne_scan_to_pointcloud().

Variable Documentation

const float HDR32_DSR_TOFFSET = 1.152f

Definition at line 37 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

const float HDR32_FIRING_TOFFSET = 46.08f

Definition at line 38 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

const int SCANS_PER_FIRING = 16

Definition at line 31 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

CSinCosLookUpTableFor2DScans velodyne_sincos_tables

Definition at line 24 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

const float VLP16_BLOCK_TDURATION = 110.592f

Definition at line 33 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

const float VLP16_DSR_TOFFSET = 2.304f

Definition at line 34 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

const float VLP16_FIRING_TOFFSET = 55.296f

Definition at line 35 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().




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