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

HDL32AdjustTimeStamp()

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().

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::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp, HDL32AdjustTimeStamp(), mrpt::obs::CObservationVelodyneScan::raw_block_t::header, mrpt::obs::VelodyneCalibration::PerLaserCalib::horizontalOffsetCorrection, mrpt::obs::CObservationVelodyneScan::laser_return_t::intensity, 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::maxRange, min, mrpt::obs::CObservationVelodyneScan::minRange, mrpt::obs::T2DScanProperties::nRays, mrpt::obs::CObservationVelodyneScan::RETMODE_DUAL, mrpt::obs::T2DScanProperties::rightToLeft, 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().

VLP16AdjustTimeStamp()

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

HDR32_DSR_TOFFSET

const float HDR32_DSR_TOFFSET = 1.152f

Definition at line 37 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

HDR32_FIRING_TOFFSET

const float HDR32_FIRING_TOFFSET = 46.08f

Definition at line 38 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

SCANS_PER_FIRING

const int SCANS_PER_FIRING = 16

Definition at line 31 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

velodyne_sincos_tables

CSinCosLookUpTableFor2DScans velodyne_sincos_tables

Definition at line 24 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

VLP16_BLOCK_TDURATION

const float VLP16_BLOCK_TDURATION = 110.592f

Definition at line 33 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

VLP16_DSR_TOFFSET

const float VLP16_DSR_TOFFSET = 2.304f

Definition at line 34 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

VLP16_FIRING_TOFFSET

const float VLP16_FIRING_TOFFSET = 55.296f

Definition at line 35 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().