#include <velodyne_parser.h>

类 apollo::drivers::velodyne::Velodyne128Parser 继承关系图:

apollo::drivers::velodyne::Velodyne128Parser 的协作图:

Public 成员函数
	Velodyne128Parser (const Config &config)

	~Velodyne128Parser ()

void	GeneratePointcloud (const std::shared_ptr< VelodyneScan > &scan_msg, std::shared_ptr< PointCloud > out_msg)
	Set up for data processing.

void	Order (std::shared_ptr< PointCloud > cloud)

Public 成员函数继承自 apollo::drivers::velodyne::VelodyneParser
	VelodyneParser ()

	VelodyneParser (const Config &config)

virtual	~VelodyneParser ()

virtual void	setup ()
	Set up for on-line operation.

const Calibration &	get_calibration ()

const double	get_last_timestamp ()

额外继承的成员函数
Protected 成员函数继承自 apollo::drivers::velodyne::VelodyneParser
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

bool	is_scan_valid (int rotation, float distance)

uint64_t	GetGpsStamp (double current_stamp, double previous_stamp, uint64_t gps_base_usec)

Protected 属性继承自 apollo::drivers::velodyne::VelodyneParser
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_

详细描述

在文件 velodyne_parser.h 第 355 行定义.

构造及析构函数说明

◆ Velodyne128Parser()

apollo::drivers::velodyne::Velodyne128Parser::Velodyne128Parser ( const Config & config )

explicit

在文件 velodyne128_parser.cc 第 23 行定义.

    : VelodyneParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
  inner_time_ = &velodyne::INNER_TIME_128;
  need_two_pt_correction_ = false;
}

◆ ~Velodyne128Parser()

apollo::drivers::velodyne::Velodyne128Parser::~Velodyne128Parser ( )

inline

在文件 velodyne_parser.h 第 358 行定义.

358{}

成员函数说明

◆ GeneratePointcloud()

void apollo::drivers::velodyne::Velodyne128Parser::GeneratePointcloud	(	const std::shared_ptr< VelodyneScan > &	scan_msg,
		std::shared_ptr< 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_nh private node handle for ROS parameters

返回: 0 if successful; errno value for failure

实现了 apollo::drivers::velodyne::VelodyneParser.

在文件 velodyne128_parser.cc 第 29 行定义.

                                       {
  // allocate a point cloud with same time and frame ID as raw data
  out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
  out_msg->mutable_header()->set_timestamp_sec(cyber::Time().Now().ToSecond());
  out_msg->set_height(1);
 
  // us
  gps_base_usec_ = scan_msg->basetime();
 
  for (int i = 0; i < scan_msg->firing_pkts_size(); ++i) {
    Unpack(scan_msg->firing_pkts(i), out_msg);
    last_time_stamp_ = out_msg->measurement_time();
  }
 
  size_t size = out_msg->point_size();
  if (size == 0) {
    // we discard this pointcloud if empty
    AERROR << "All points is NAN!Please check velodyne:" << config_.model();
    return;
  } else {
    const auto timestamp =
        out_msg->point(static_cast<int>(size) - 1).timestamp();
    out_msg->set_measurement_time(static_cast<double>(timestamp) / 1e9);
    out_msg->mutable_header()->set_lidar_timestamp(timestamp);
  }
  out_msg->set_width(out_msg->point_size());
}

◆ Order()

void apollo::drivers::velodyne::Velodyne128Parser::Order ( std::shared_ptr< PointCloud > cloud )

virtual

实现了 apollo::drivers::velodyne::VelodyneParser.

在文件 velodyne128_parser.cc 第 67 行定义.

                                                             {
  (void)cloud;
}

该类的文档由以下文件生成:

modules/drivers/lidar/velodyne/parser/velodyne_parser.h
modules/drivers/lidar/velodyne/parser/velodyne128_parser.cc

Public 成员函数