rawdata.h File Reference

Interfaces for interpreting raw packets from the Velodyne 3D LIDAR. More...

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <math.h>
#include <vector>
#include <ros/ros.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <velodyne_pointcloud/calibration.h>
#include <velodyne_pointcloud/datacontainerbase.h>

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Classes
struct	velodyne_rawdata::RawData::Config
struct	velodyne_rawdata::raw_block
	Raw Velodyne data block. More...
struct	velodyne_rawdata::raw_packet
	Raw Velodyne packet. More...
class	velodyne_rawdata::RawData
	Velodyne data conversion class. More...
union	velodyne_rawdata::two_bytes

Namespaces
	velodyne_rawdata

Typedefs
typedef struct velodyne_rawdata::raw_block	velodyne_rawdata::raw_block_t
	Raw Velodyne data block. More...
typedef struct velodyne_rawdata::raw_packet	velodyne_rawdata::raw_packet_t
	Raw Velodyne packet. More...

Variables
static const int	velodyne_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	velodyne_rawdata::BLOCKS_PER_PACKET = 12
static const uint16_t	velodyne_rawdata::LOWER_BANK = 0xddff
static const int	velodyne_rawdata::PACKET_SIZE = 1206
static const int	velodyne_rawdata::PACKET_STATUS_SIZE = 4
static const int	velodyne_rawdata::RAW_SCAN_SIZE = 3
static const uint16_t	velodyne_rawdata::ROTATION_MAX_UNITS = 36000u
static const float	velodyne_rawdata::ROTATION_RESOLUTION = 0.01f
static const int	velodyne_rawdata::SCANS_PER_BLOCK = 32
static const int	velodyne_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	velodyne_rawdata::SIZE_BLOCK = 100
static const uint16_t	velodyne_rawdata::UPPER_BANK = 0xeeff
static const float	velodyne_rawdata::VLP16_BLOCK_TDURATION = 110.592f
static const float	velodyne_rawdata::VLP16_DSR_TOFFSET = 2.304f
static const float	velodyne_rawdata::VLP16_FIRING_TOFFSET = 55.296f
static const int	velodyne_rawdata::VLP16_FIRINGS_PER_BLOCK = 2
static const int	velodyne_rawdata::VLP16_SCANS_PER_FIRING = 16
static const uint16_t	velodyne_rawdata::VLS128_BANK_1 = 0xeeff
static const uint16_t	velodyne_rawdata::VLS128_BANK_2 = 0xddff
static const uint16_t	velodyne_rawdata::VLS128_BANK_3 = 0xccff
static const uint16_t	velodyne_rawdata::VLS128_BANK_4 = 0xbbff
static const float	velodyne_rawdata::VLS128_CHANNEL_TDURATION = 2.665f
static const float	velodyne_rawdata::VLS128_DISTANCE_RESOLUTION = 0.004f
static const float	velodyne_rawdata::VLS128_MODEL_ID = 161
static const float	velodyne_rawdata::VLS128_SEQ_TDURATION = 53.3f
static const float	velodyne_rawdata::VLS128_TOH_ADJUSTMENT = 8.7f

Detailed Description

Interfaces for interpreting raw packets from the Velodyne 3D LIDAR.

Author

Yaxin Liu

Patrick Beeson

Jack O'Quin

Definition in file rawdata.h.