Apollo 10.0
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apollo::drivers::lslidar::parser::LslidarCH32Parser类 参考

#include <lslidar_parser.h>

类 apollo::drivers::lslidar::parser::LslidarCH32Parser 继承关系图:
apollo::drivers::lslidar::parser::LslidarCH32Parser 的协作图:

Public 成员函数

 LslidarCH32Parser (const Config &config)
 
 ~LslidarCH32Parser ()
 
void GeneratePointcloud (const std::shared_ptr< LslidarScan > &scan_msg, const std::shared_ptr< apollo::drivers::PointCloud > &out_msg)
 Set up for data processing.
 
void Order (std::shared_ptr< apollo::drivers::PointCloud > cloud)
 
- Public 成员函数 继承自 apollo::drivers::lslidar::parser::LslidarParser
 LslidarParser ()
 
 LslidarParser (const Config &config)
 
virtual ~LslidarParser ()
 
virtual void setup ()
 Set up for on-line operation.
 
const double get_last_timestamp ()
 

额外继承的成员函数

- Protected 成员函数 继承自 apollo::drivers::lslidar::parser::LslidarParser
bool is_scan_valid (int rotation, float distance)
 
void ComputeCoords (const float &raw_distance, LaserCorrection *corrections, const uint16_t rotation, PointXYZIT *point)
 
void ComputeCoords2 (int Laser_ring, int Type, const float &raw_distance, LaserCorrection *corrections, const double rotation, PointXYZIT *point)
 
- Protected 属性 继承自 apollo::drivers::lslidar::parser::LslidarParser
double scan_altitude [16]
 
float sin_azimuth_table [ROTATION_MAX_UNITS]
 
float cos_azimuth_table [ROTATION_MAX_UNITS]
 
double cos_scan_altitude_caliration [LSC32_SCANS_PER_FIRING]
 
double sin_scan_altitude_caliration [LSC32_SCANS_PER_FIRING]
 
double last_time_stamp_
 
double theat1_s [128]
 
double theat2_s [128]
 
double theat1_c [128]
 
double theat2_c [128]
 
double prism_angle [4]
 
double prism_angle64 [4]
 
Config config_
 
Calibration calibration_
 
bool need_two_pt_correction_
 
bool config_vert_angle
 
uint64_t current_packet_time = 0
 
uint64_t previous_packet_time = 0
 

详细描述

在文件 lslidar_parser.h719 行定义.

构造及析构函数说明

◆ LslidarCH32Parser()

apollo::drivers::lslidar::parser::LslidarCH32Parser::LslidarCH32Parser ( const Config config)
explicit

在文件 lslidarCH32_parser.cc24 行定义.

24 :
25 LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}

◆ ~LslidarCH32Parser()

apollo::drivers::lslidar::parser::LslidarCH32Parser::~LslidarCH32Parser ( )
inline

在文件 lslidar_parser.h722 行定义.

722{}

成员函数说明

◆ GeneratePointcloud()

void apollo::drivers::lslidar::parser::LslidarCH32Parser::GeneratePointcloud ( const std::shared_ptr< LslidarScan > &  scan_msg,
const std::shared_ptr< apollo::drivers::PointCloud > &  out_msg 
)
virtual

Set up for data processing.

Perform initializations needed before data processing can begin:

  • read device-specific angles calibration
参数
private_nhprivate node handle for ROS parameters
返回
0 if successful; errno value for failure

实现了 apollo::drivers::lslidar::parser::LslidarParser.

在文件 lslidarCH32_parser.cc27 行定义.

29 {
30 // allocate a point cloud with same time and frame ID as raw data
31 out_msg->mutable_header()->set_timestamp_sec(
32 scan_msg->basetime() / 1000000000.0);
33 out_msg->mutable_header()->set_module_name(
34 scan_msg->header().module_name());
35 out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
36 out_msg->set_height(1);
37 out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
38 out_msg->mutable_header()->set_sequence_num(
39 scan_msg->header().sequence_num());
40 gps_base_usec_ = scan_msg->basetime();
41
42 packets_size = scan_msg->firing_pkts_size();
43
44 for (size_t i = 0; i < packets_size; ++i) {
45 Unpack(static_cast<int>(i),
46 scan_msg->firing_pkts(static_cast<int>(i)),
47 out_msg);
48 last_time_stamp_ = out_msg->measurement_time();
49 ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
50 }
51
52 if (out_msg->point().empty()) {
53 // we discard this pointcloud if empty
54 AERROR << "All points is NAN!Please check lslidar:" << config_.model();
55 }
56
57 // set default width
58 out_msg->set_width(out_msg->point_size());
59}
#define ADEBUG
Definition log.h:41
#define AERROR
Definition log.h:44

◆ Order()

void apollo::drivers::lslidar::parser::LslidarCH32Parser::Order ( std::shared_ptr< apollo::drivers::PointCloud cloud)
virtual

实现了 apollo::drivers::lslidar::parser::LslidarParser.

在文件 lslidarCH32_parser.cc170 行定义.

170 {
171 int width = 32;
172 cloud->set_width(width);
173 int height = cloud->point_size() / cloud->width();
174 cloud->set_height(height);
175
176 std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
177 cloud_origin->CopyFrom(*cloud);
178
179 for (int i = 0; i < width; ++i) {
180 int col = ORDER_32[i];
181
182 for (int j = 0; j < height; ++j) {
183 // make sure offset is initialized, should be init at setup() just
184 // once
185 int target_index = j * width + i;
186 int origin_index = j * width + col;
187 cloud->mutable_point(target_index)
188 ->CopyFrom(cloud_origin->point(origin_index));
189 }
190 }
191}
uint32_t height
Height of point cloud
uint32_t width
Width of point cloud

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