mrpt::obs::VelodyneCalibration Struct Reference

Detailed Description

Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan.

It is mandatory to use some calibration data to convert Velodyne scans into 3D point clouds. Users should normally use the XML files provided by the manufacturer with each scanner, but default calibration files can be loaded with VelodyneCalibration::LoadDefaultCalibration().

Note

New in MRPT 1.4.0

See also

CObservationVelodyneScan, CVelodyneScanner

Definition at line 28 of file VelodyneCalibration.h.

#include <mrpt/obs/VelodyneCalibration.h>

Classes
struct	PerLaserCalib

Public Member Functions
	VelodyneCalibration ()
	Default ctor (leaves all empty) More...
bool	empty () const
	Returns true if no calibration has been loaded yet. More...
void	clear ()
	Clear all previous contents. More...
bool	loadFromXMLFile (const std::string &velodyne_calibration_xml_filename)
	Loads calibration from file, in the format supplied by the manufacturer. More...
bool	loadFromXMLText (const std::string &xml_file_contents)
	Loads calibration from a string containing an entire XML calibration file. More...
bool	loadFromYAMLText (const std::string &yaml_file_contents)
	Loads calibration from a string containing an entire YAML calibration file. More...
bool	loadFromYAMLFile (const std::string &velodyne_calib_yaml_filename)
	Loads calibration from a YAML calibration file. More...

Static Public Member Functions
static const VelodyneCalibration &	LoadDefaultCalibration (const std::string &lidar_model)
	Loads default calibration files for common LIDAR models. More...

Public Attributes
std::vector< PerLaserCalib >	laser_corrections

Private Member Functions
bool	internal_loadFromXMLNode (void *node)

Constructor & Destructor Documentation

VelodyneCalibration()

VelodyneCalibration::VelodyneCalibration

(

)

Default ctor (leaves all empty)

Definition at line 74 of file VelodyneCalibration.cpp.

Member Function Documentation

clear()

void VelodyneCalibration::clear

(

)

Clear all previous contents.

Definition at line 324 of file VelodyneCalibration.cpp.

References laser_corrections.

Referenced by internal_loadFromXMLNode(), and loadFromYAMLText().

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empty()

bool VelodyneCalibration::empty

(

)

const

Returns true if no calibration has been loaded yet.

Definition at line 323 of file VelodyneCalibration.cpp.

References laser_corrections.

Referenced by mrpt::hwdrivers::CVelodyneScanner::initialize().

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internal_loadFromXMLNode()

bool VelodyneCalibration::internal_loadFromXMLNode ( void *  node )

private

Definition at line 75 of file VelodyneCalibration.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_ABOVEEQ_, ASSERT_BELOW_, ASSERT_EQUAL_, mrpt::obs::VelodyneCalibration::PerLaserCalib::azimuthCorrection, clear(), mrpt::obs::VelodyneCalibration::PerLaserCalib::cosVertCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::cosVertOffsetCorrection, mrpt::DEG2RAD(), mrpt::obs::VelodyneCalibration::PerLaserCalib::distanceCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::horizontalOffsetCorrection, laser_corrections, mrpt::obs::VelodyneCalibration::PerLaserCalib::sinVertCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::sinVertOffsetCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::verticalCorrection, and mrpt::obs::VelodyneCalibration::PerLaserCalib::verticalOffsetCorrection.

Referenced by loadFromXMLFile(), and loadFromXMLText().

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LoadDefaultCalibration()

const VelodyneCalibration & VelodyneCalibration::LoadDefaultCalibration ( const std::string &  lidar_model )

static

Loads default calibration files for common LIDAR models.

Parameters

[in]

lidar_model

Valid model names are: VLP16, HDL32, HDL64

Returns

It always return a calibration structure, but it may be empty if the model name is unknown. See empty()

Note

Default files can be inspected in [MRPT_SRC or /usr]/share/mrpt/config_files/rawlog-grabber/velodyne_default_calib_{*}.xml

Definition at line 329 of file VelodyneCalibration.cpp.

References cache_default_calibs, velodyne_default_calib_HDL32, velodyne_default_calib_HDL64E_S3, and velodyne_default_calib_VLP16.

loadFromXMLFile()

bool VelodyneCalibration::loadFromXMLFile

(

const std::string &

velodyne_calibration_xml_fil

)

Loads calibration from file, in the format supplied by the manufacturer.

Loads calibration from file.

Returns

false on any error, true on success

Definition at line 205 of file VelodyneCalibration.cpp.

References internal_loadFromXMLNode(), and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CVelodyneScanner::loadCalibrationFile().

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loadFromXMLText()

bool VelodyneCalibration::loadFromXMLText

(

const std::string &

xml_file_contents

)

Loads calibration from a string containing an entire XML calibration file.

See also

loadFromXMLFile

Returns

false on any error, true on success

Definition at line 166 of file VelodyneCalibration.cpp.

References internal_loadFromXMLNode(), and THROW_EXCEPTION.

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loadFromYAMLFile()

bool VelodyneCalibration::loadFromYAMLFile

(

const std::string &

velodyne_calib_yaml_filename

)

Loads calibration from a YAML calibration file.

See also

loadFromYAMLText, loadFromXMLFile

Returns

false on any error, true on success

Definition at line 296 of file VelodyneCalibration.cpp.

References loadFromYAMLText(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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loadFromYAMLText()

bool VelodyneCalibration::loadFromYAMLText

(

const std::string &

yaml_file_contents

)

Loads calibration from a string containing an entire YAML calibration file.

See also

loadFromYAMLFile, loadFromXMLFile

Returns

false on any error, true on success

Definition at line 240 of file VelodyneCalibration.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::obs::VelodyneCalibration::PerLaserCalib::azimuthCorrection, clear(), mrpt::obs::VelodyneCalibration::PerLaserCalib::cosVertCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::cosVertOffsetCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::distanceCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::horizontalOffsetCorrection, laser_corrections, mrpt::obs::VelodyneCalibration::PerLaserCalib::sinVertCorrection, mrpt::obs::VelodyneCalibration::PerLaserCalib::sinVertOffsetCorrection, THROW_EXCEPTION, mrpt::obs::VelodyneCalibration::PerLaserCalib::verticalCorrection, and mrpt::obs::VelodyneCalibration::PerLaserCalib::verticalOffsetCorrection.

Referenced by loadFromYAMLFile().

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Member Data Documentation

laser_corrections

std::vector<PerLaserCalib> mrpt::obs::VelodyneCalibration::laser_corrections

Definition at line 77 of file VelodyneCalibration.h.

Referenced by clear(), empty(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), internal_loadFromXMLNode(), loadFromYAMLText(), and velodyne_scan_to_pointcloud().