apollo::drivers::velodyne::VelodyneParser Class Reference

Velodyne data conversion class. More...

#include <velodyne_parser.h>

Inheritance diagram for apollo::drivers::velodyne::VelodyneParser:

Collaboration diagram for apollo::drivers::velodyne::VelodyneParser:

Public Member Functions
	VelodyneParser ()
	VelodyneParser (const Config &config)
virtual	~VelodyneParser ()
virtual void	GeneratePointcloud (const std::shared_ptr< VelodyneScan > &scan_msg, std::shared_ptr< PointCloud > out_msg)=0
	Set up for data processing. More...
virtual void	setup ()
virtual void	Order (std::shared_ptr< PointCloud > cloud)=0
const Calibration &	get_calibration ()
const double	get_last_timestamp ()

Protected Member Functions
PointXYZIT	get_nan_point (uint64_t timestamp)
void	init_angle_params (double view_direction, double view_width)
void	ComputeCoords (const float &raw_distance, const LaserCorrection &corrections, const uint16_t rotation, PointXYZIT *point)
	Compute coords with the data in block. More...
bool	is_scan_valid (int rotation, float distance)
virtual void	Unpack (const VelodynePacket &pkt, std::shared_ptr< PointCloud > pc)=0
	Unpack velodyne packet. More...
uint64_t	GetGpsStamp (double current_stamp, double *previous_stamp, uint64_t *gps_base_usec)
virtual uint64_t	GetTimestamp (double base_time, float time_offset, uint16_t laser_block_id)=0

Protected Attributes
const float(*	inner_time_ )[12][32]
Calibration	calibration_
float	sin_rot_table_ [ROTATION_MAX_UNITS]
float	cos_rot_table_ [ROTATION_MAX_UNITS]
double	last_time_stamp_
Config	config_
bool	need_two_pt_correction_
Mode	mode_

Detailed Description

Velodyne data conversion class.

Constructor & Destructor Documentation

VelodyneParser() [1/2]

apollo::drivers::velodyne::VelodyneParser::VelodyneParser ( )

inline

VelodyneParser() [2/2]

apollo::drivers::velodyne::VelodyneParser::VelodyneParser ( const Config &  config )

explicit

~VelodyneParser()

virtual apollo::drivers::velodyne::VelodyneParser::~VelodyneParser ( )

inlinevirtual

Member Function Documentation

ComputeCoords()

void apollo::drivers::velodyne::VelodyneParser::ComputeCoords ( const float &  raw_distance, const LaserCorrection &  corrections, const uint16_t  rotation, PointXYZIT *  point  )

protected

Compute coords with the data in block.

Parameters

tmp	A two bytes union store the value of laser distance information
index	The index of block

GeneratePointcloud()

virtual void apollo::drivers::velodyne::VelodyneParser::GeneratePointcloud ( const std::shared_ptr< VelodyneScan > &  scan_msg, std::shared_ptr< PointCloud >  out_msg  )

pure virtual

Set up for data processing.

Perform initializations needed before data processing can begin:

• read device-specific angles calibration

Parameters

private_nh

private node handle for ROS parameters

Returns

0 if successful; errno value for failure

Implemented in apollo::drivers::velodyne::Velodyne128Parser, apollo::drivers::velodyne::Velodyne16Parser, apollo::drivers::velodyne::Velodyne32Parser, and apollo::drivers::velodyne::Velodyne64Parser.

get_calibration()

const Calibration& apollo::drivers::velodyne::VelodyneParser::get_calibration ( )

inline

get_last_timestamp()

const double apollo::drivers::velodyne::VelodyneParser::get_last_timestamp ( )

inline

get_nan_point()

PointXYZIT apollo::drivers::velodyne::VelodyneParser::get_nan_point ( uint64_t  timestamp )

protected

GetGpsStamp()

uint64_t apollo::drivers::velodyne::VelodyneParser::GetGpsStamp ( double  current_stamp, double *  previous_stamp, uint64_t *  gps_base_usec  )

protected

GetTimestamp()

virtual uint64_t apollo::drivers::velodyne::VelodyneParser::GetTimestamp ( double  base_time, float  time_offset, uint16_t  laser_block_id  )

protectedpure virtual

init_angle_params()

void apollo::drivers::velodyne::VelodyneParser::init_angle_params ( double  view_direction, double  view_width  )

protected

is_scan_valid()

bool apollo::drivers::velodyne::VelodyneParser::is_scan_valid ( int  rotation, float  distance  )

protected

Order()

virtual void apollo::drivers::velodyne::VelodyneParser::Order ( std::shared_ptr< PointCloud >  cloud )

pure virtual

Implemented in apollo::drivers::velodyne::Velodyne128Parser, apollo::drivers::velodyne::Velodyne16Parser, apollo::drivers::velodyne::Velodyne32Parser, and apollo::drivers::velodyne::Velodyne64Parser.

setup()

virtual void apollo::drivers::velodyne::VelodyneParser::setup ( )

virtual

Reimplemented in apollo::drivers::velodyne::Velodyne64Parser.

Unpack()

virtual void apollo::drivers::velodyne::VelodyneParser::Unpack ( const VelodynePacket &  pkt, std::shared_ptr< PointCloud >  pc  )

protectedpure virtual

Unpack velodyne packet.

Member Data Documentation

calibration_

Calibration apollo::drivers::velodyne::VelodyneParser::calibration_

protected

config_

Config apollo::drivers::velodyne::VelodyneParser::config_

protected

cos_rot_table_

float apollo::drivers::velodyne::VelodyneParser::cos_rot_table_[ROTATION_MAX_UNITS]

protected

inner_time_

const float(* apollo::drivers::velodyne::VelodyneParser::inner_time_)[12][32]

protected

last_time_stamp_

double apollo::drivers::velodyne::VelodyneParser::last_time_stamp_

protected

mode_

Mode apollo::drivers::velodyne::VelodyneParser::mode_

protected

need_two_pt_correction_

bool apollo::drivers::velodyne::VelodyneParser::need_two_pt_correction_

protected

sin_rot_table_

float apollo::drivers::velodyne::VelodyneParser::sin_rot_table_[ROTATION_MAX_UNITS]

protected

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The documentation for this class was generated from the following file:

• modules/drivers/lidar/velodyne/parser/velodyne_parser.h