Detailed Description

Raw Velodyne data block.

Each block contains data from either the upper or lower laser bank. The device returns three times as many upper bank blocks.

Definition at line 138 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions
uint16_t	header () const

uint16_t	rotation () const

Public Attributes
laser_return_t	laser_returns [SCANS_PER_BLOCK]

Private Attributes
uint16_t	m_header
	Block id: UPPER_BANK or LOWER_BANK. More...

uint16_t	m_rotation
	0-35999, divide by 100 to get degrees More...

Member Function Documentation

◆ header()

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::header ( ) const

inline

Definition at line 146 of file CObservationVelodyneScan.h.

References m_header, and mrpt::toNativeEndianness().

Referenced by velodyne_scan_to_pointcloud().

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◆ rotation()

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation ( ) const

inline

Definition at line 150 of file CObservationVelodyneScan.h.

References m_rotation, and mrpt::toNativeEndianness().

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), and velodyne_scan_to_pointcloud().

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Member Data Documentation

◆ laser_returns

laser_return_t mrpt::obs::CObservationVelodyneScan::raw_block_t::laser_returns[SCANS_PER_BLOCK]

Definition at line 144 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

◆ m_header

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::m_header

private

Block id: UPPER_BANK or LOWER_BANK.

Definition at line 141 of file CObservationVelodyneScan.h.

Referenced by header().

◆ m_rotation

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::m_rotation

private

0-35999, divide by 100 to get degrees

Definition at line 142 of file CObservationVelodyneScan.h.

Referenced by rotation().