CObservationVelodyneScan.cpp File Reference

#include "obs-precomp.h"
#include <mrpt/containers/stl_containers_utils.h>
#include <mrpt/core/round.h>
#include <mrpt/obs/CObservationVelodyneScan.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>
#include <iostream>

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Typedefs
using	Velo = mrpt::obs::CObservationVelodyneScan

Functions
static double	HDL32AdjustTimeStamp (int firingblock, int dsr)
	[us] More...
static double	VLP16AdjustTimeStamp (int firingblock, int dsr, int firingwithinblock)
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static void	velodyne_scan_to_pointcloud (const Velo &scan, const Velo::TGeneratePointCloudParameters &params, Velo::PointCloudStorageWrapper &out_pc)

Variables
static 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 double	HDR32_DSR_TOFFSET = 1.152
const double	HDR32_FIRING_TOFFSET = 46.08

Typedef Documentation

Velo

using Velo = mrpt::obs::CObservationVelodyneScan

Definition at line 24 of file CObservationVelodyneScan.cpp.

Function Documentation

HDL32AdjustTimeStamp()

static double HDL32AdjustTimeStamp ( int  firingblock, int  dsr  )

static

[us]

Definition at line 134 of file CObservationVelodyneScan.cpp.

References HDR32_DSR_TOFFSET, and HDR32_FIRING_TOFFSET.

Referenced by velodyne_scan_to_pointcloud().

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velodyne_scan_to_pointcloud()

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

static

Definition at line 146 of file CObservationVelodyneScan.cpp.

References mrpt::obs::CObservationVelodyneScan::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::PointCloudStorageWrapper::reserve(), mrpt::obs::CObservationVelodyneScan::PointCloudStorageWrapper::resizeLaserCount(), mrpt::obs::CObservationVelodyneScan::RETMODE_DUAL, mrpt::obs::T2DScanProperties::rightToLeft, mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation, mrpt::obs::CObservationVelodyneScan::ROTATION_MAX_UNITS, mrpt::round(), mrpt::obs::CObservationVelodyneScan::scan_packets, mrpt::obs::CObservationVelodyneScan::SCANS_PER_BLOCK, 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().

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VLP16AdjustTimeStamp()

static double VLP16AdjustTimeStamp ( int  firingblock, int  dsr, int  firingwithinblock  )

static

[us]

Definition at line 139 of file CObservationVelodyneScan.cpp.

References VLP16_BLOCK_TDURATION, VLP16_DSR_TOFFSET, and VLP16_FIRING_TOFFSET.

Referenced by velodyne_scan_to_pointcloud().

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Variable Documentation

HDR32_DSR_TOFFSET

const double HDR32_DSR_TOFFSET = 1.152

Definition at line 43 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

HDR32_FIRING_TOFFSET

const double HDR32_FIRING_TOFFSET = 46.08

Definition at line 44 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

SCANS_PER_FIRING

const int SCANS_PER_FIRING = 16

Definition at line 37 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

velodyne_sincos_tables

CSinCosLookUpTableFor2DScans velodyne_sincos_tables

static

Definition at line 29 of file CObservationVelodyneScan.cpp.

Referenced by velodyne_scan_to_pointcloud().

VLP16_BLOCK_TDURATION

const float VLP16_BLOCK_TDURATION = 110.592f

Definition at line 39 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

VLP16_DSR_TOFFSET

const float VLP16_DSR_TOFFSET = 2.304f

Definition at line 40 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

VLP16_FIRING_TOFFSET

const float VLP16_FIRING_TOFFSET = 55.296f

Definition at line 41 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().