MRPT  2.0.1
Typedefs | Functions | Variables
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)
 [us] More...
 
static void velodyne_scan_to_pointcloud (const Velo &scan, const Velo::TGeneratePointCloudParameters &params, Velo::PointCloudStorageWrapper &out_pc)
 

Variables

static CSinCosLookUpTableFor2DScans velodyne_sincos_tables
 
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

Definition at line 24 of file CObservationVelodyneScan.cpp.

Function Documentation

◆ HDL32AdjustTimeStamp()

static double HDL32AdjustTimeStamp ( int  firingblock,
int  dsr 
)
static

[us]

Definition at line 126 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 138 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::d2f(), 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, mrpt::obs::CObservationVelodyneScan::minRange, mrpt::obs::T2DScanProperties::nRays, params, 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, mrpt::obs::CObservationVelodyneScan::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::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::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 131 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 35 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

◆ HDR32_FIRING_TOFFSET

const double HDR32_FIRING_TOFFSET = 46.08

Definition at line 36 of file CObservationVelodyneScan.cpp.

Referenced by HDL32AdjustTimeStamp().

◆ 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 31 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

◆ VLP16_DSR_TOFFSET

const float VLP16_DSR_TOFFSET = 2.304f

Definition at line 32 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().

◆ VLP16_FIRING_TOFFSET

const float VLP16_FIRING_TOFFSET = 55.296f

Definition at line 33 of file CObservationVelodyneScan.cpp.

Referenced by VLP16AdjustTimeStamp().




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