rawdata.h

Go to the documentation of this file.

// Copyright (C) 2007, 2009, 2010, 2012, 2019 Yaxin Liu, Patrick Beeson, Jack O'Quin, Joshua Whitley
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//  * Neither the name of {copyright_holder} nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
#ifndef VELODYNE_POINTCLOUD_RAWDATA_H
#define VELODYNE_POINTCLOUD_RAWDATA_H
 
#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>
 
namespace velodyne_rawdata
{
static const int SIZE_BLOCK = 100;
static const int RAW_SCAN_SIZE = 3;
static const int SCANS_PER_BLOCK = 32;
static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);
 
static const float ROTATION_RESOLUTION = 0.01f;     // [deg]
static const uint16_t ROTATION_MAX_UNITS = 36000u;  // [deg/100]
 
static const uint16_t UPPER_BANK = 0xeeff;
static const uint16_t LOWER_BANK = 0xddff;
 
static const int VLP16_FIRINGS_PER_BLOCK = 2;
static const int VLP16_SCANS_PER_FIRING = 16;
static const float VLP16_BLOCK_TDURATION = 110.592f;  // [µs]
static const float VLP16_DSR_TOFFSET = 2.304f;        // [µs]
static const float VLP16_FIRING_TOFFSET = 55.296f;    // [µs]
 
typedef struct raw_block
{
  uint16_t header;    
  uint16_t rotation;  
  uint8_t data[BLOCK_DATA_SIZE];
}
raw_block_t;
 
union two_bytes
{
  uint16_t uint;
  uint8_t bytes[2];
};
 
static const int PACKET_SIZE = 1206;
static const int BLOCKS_PER_PACKET = 12;
static const int PACKET_STATUS_SIZE = 4;
static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);
 
// These are used to detect which bank of 32 lasers is in this block
static const uint16_t VLS128_BANK_1 = 0xeeff;
static const uint16_t VLS128_BANK_2 = 0xddff;
static const uint16_t VLS128_BANK_3 = 0xccff;
static const uint16_t VLS128_BANK_4 = 0xbbff;
 
static const float  VLS128_CHANNEL_TDURATION  =  2.665f;  // [µs] Channels corresponds to one laser firing
static const float  VLS128_SEQ_TDURATION      =  53.3f;   // [µs] Sequence is a set of laser firings including recharging
static const float  VLS128_TOH_ADJUSTMENT     =  8.7f;   // [µs] μs. Top Of the Hour is aligned with the fourth firing group in a firing sequence.
static const float  VLS128_DISTANCE_RESOLUTION=  0.004f;  // [m]
static const float  VLS128_MODEL_ID=  161;
 
 
 
typedef struct raw_packet
{
  raw_block_t blocks[BLOCKS_PER_PACKET];
  uint16_t revolution;
  uint8_t status[PACKET_STATUS_SIZE];
}
raw_packet_t;
 
class RawData
{
public:
  RawData();
  ~RawData()
  {
  }
 
  boost::optional<velodyne_pointcloud::Calibration> setup(ros::NodeHandle private_nh);
 
 
  void setupSinCosCache();
  void setupAzimuthCache();
  bool loadCalibration();
 
  int setupOffline(std::string calibration_file, std::string model, double max_range_, 
                   double min_range_);
 
  void unpack(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data,
              const ros::Time& scan_start_time);
 
  void setParameters(double min_range, double max_range, double view_direction, double view_width);
 
  int scansPerPacket() const;
 
private:
  typedef struct
  {
    std::string model;
    std::string calibrationFile;  
    double max_range;             
    double min_range;             
    int min_angle;                
    int max_angle;                
 
    double tmp_min_angle;
    double tmp_max_angle;
  }
  Config;
  Config config_;
 
  velodyne_pointcloud::Calibration calibration_;
  float sin_rot_table_[ROTATION_MAX_UNITS];
  float cos_rot_table_[ROTATION_MAX_UNITS];
 
  // Caches the azimuth percent offset for the VLS-128 laser firings
  float vls_128_laser_azimuth_cache[16];
 
  // timing offset lookup table
  std::vector< std::vector<float> > timing_offsets;
 
  bool buildTimings();
 
  void unpack_vlp16(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data,
                    const ros::Time& scan_start_time);
 
  void unpack_vls128(const velodyne_msgs::VelodynePacket &pkt, DataContainerBase& data,
                     const ros::Time& scan_start_time);
 
  inline bool pointInRange(float range)
  {
    return (range >= config_.min_range
            && range <= config_.max_range);
  }
};
 
}  // namespace velodyne_rawdata
 
#endif  // VELODYNE_POINTCLOUD_RAWDATA_H