Velodyne data conversion class. More...
#include <rawdata.h>
Classes | |
| struct | Config |
Public Member Functions | |
| bool | loadCalibration () |
| RawData () | |
| int | scansPerPacket () const |
| void | setParameters (double min_range, double max_range, double view_direction, double view_width) |
| boost::optional< velodyne_pointcloud::Calibration > | setup (ros::NodeHandle private_nh) |
| Set up for data processing. More... | |
| void | setupAzimuthCache () |
| int | setupOffline (std::string calibration_file, std::string model, double max_range_, double min_range_) |
| Set up for data processing offline. Performs the same initialization as in setup, in the abscence of a ros::NodeHandle. this method is useful if unpacking data directly from bag files, without passing through a communication overhead. More... | |
| void | setupSinCosCache () |
| void | unpack (const velodyne_msgs::VelodynePacket &pkt, DataContainerBase &data, const ros::Time &scan_start_time) |
| convert raw packet to point cloud More... | |
| ~RawData () | |
Private Member Functions | |
| bool | buildTimings () |
| setup per-point timing offsets More... | |
| bool | pointInRange (float range) |
| void | unpack_vlp16 (const velodyne_msgs::VelodynePacket &pkt, DataContainerBase &data, const ros::Time &scan_start_time) |
| convert raw VLP16 packet to point cloud More... | |
| void | unpack_vls128 (const velodyne_msgs::VelodynePacket &pkt, DataContainerBase &data, const ros::Time &scan_start_time) |
| convert raw VLS128 packet to point cloud More... | |
Private Attributes | |
| velodyne_pointcloud::Calibration | calibration_ |
| Config | config_ |
| float | cos_rot_table_ [ROTATION_MAX_UNITS] |
| float | sin_rot_table_ [ROTATION_MAX_UNITS] |
| std::vector< std::vector< float > > | timing_offsets |
| float | vls_128_laser_azimuth_cache [16] |
| velodyne_rawdata::RawData::RawData | ( | ) |
Definition at line 49 of file rawdata.cc.
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private |
setup per-point timing offsets
Runs during initialization and determines the firing time for each point in the scan
NOTE: Does not support all sensors yet (vlp16, vlp32, and hdl32 are currently supported)
Build a timing table for each block/firing. Stores in timing_offsets vector
Definition at line 95 of file rawdata.cc.
| bool velodyne_rawdata::RawData::loadCalibration | ( | ) |
Definition at line 284 of file rawdata.cc.
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inlineprivate |
| int velodyne_rawdata::RawData::scansPerPacket | ( | ) | const |
Definition at line 80 of file rawdata.cc.
| void velodyne_rawdata::RawData::setParameters | ( | double | min_range, |
| double | max_range, | ||
| double | view_direction, | ||
| double | view_width | ||
| ) |
Update parameters: conversions and update
Definition at line 52 of file rawdata.cc.
| boost::optional< velodyne_pointcloud::Calibration > velodyne_rawdata::RawData::setup | ( | ros::NodeHandle | private_nh | ) |
Set up for data processing.
Perform initializations needed before data processing can begin:
| private_nh | private node handle for ROS parameters |
Set up for on-line operation.
Definition at line 220 of file rawdata.cc.
| void velodyne_rawdata::RawData::setupAzimuthCache | ( | ) |
Definition at line 311 of file rawdata.cc.
| int velodyne_rawdata::RawData::setupOffline | ( | std::string | calibration_file, |
| std::string | model, | ||
| double | max_range_, | ||
| double | min_range_ | ||
| ) |
Set up for data processing offline. Performs the same initialization as in setup, in the abscence of a ros::NodeHandle. this method is useful if unpacking data directly from bag files, without passing through a communication overhead.
| calibration_file | path to the calibration file |
| model | sensor model type |
| max_range_ | cutoff for maximum range |
| min_range_ | cutoff for minimum range |
Set up for offline operation
Definition at line 256 of file rawdata.cc.
| void velodyne_rawdata::RawData::setupSinCosCache | ( | ) |
Definition at line 294 of file rawdata.cc.
| void velodyne_rawdata::RawData::unpack | ( | const velodyne_msgs::VelodynePacket & | pkt, |
| DataContainerBase & | data, | ||
| const ros::Time & | scan_start_time | ||
| ) |
convert raw packet to point cloud
| pkt | raw packet to unpack |
| pc | shared pointer to point cloud (points are appended) |
special parsing for the VLS128
special parsing for the VLP16
Position Calculation
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the expression wiht '-' is proved to be better than the one with '+'
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the new term of 'vert_offset * cos_vert_angle' was added to the expression due to the mathemathical model we used.
Use standard ROS coordinate system (right-hand rule)
Intensity Calculation
Definition at line 330 of file rawdata.cc.
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private |
convert raw VLP16 packet to point cloud
add private function to handle the VLP16
| pkt | raw packet to unpack |
| pc | shared pointer to point cloud (points are appended) |
Position Calculation
correct for the laser rotation as a function of timing during the firings
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the new term of 'vert_offset * sin_vert_angle' was added to the expression due to the mathemathical model we used.
the new term of 'vert_offset * cos_vert_angle' was added to the expression due to the mathemathical model we used.
Use standard ROS coordinate system (right-hand rule)
Intensity Calculation
Definition at line 648 of file rawdata.cc.
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private |
convert raw VLS128 packet to point cloud
| pkt | raw packet to unpack |
| pc | shared pointer to point cloud (points are appended) |
Definition at line 509 of file rawdata.cc.
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