Apollo 10.0
自动驾驶开放平台
calibration.h
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2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16
28#pragma once
29
30#include <map>
31#include <string>
32
33namespace apollo {
34namespace drivers {
35namespace velodyne {
36
66
69 public:
70 std::map<int, LaserCorrection> laser_corrections_;
73
74 public:
76 explicit Calibration(const std::string& calibration_file) {
77 read(calibration_file);
78 }
79
80 void read(const std::string& calibration_file);
81 void write(const std::string& calibration_file);
82};
83
84} // namespace velodyne
85} // namespace drivers
86} // namespace apollo
Calibration class storing entire configuration for the Velodyne
Definition calibration.h:68
void write(const std::string &calibration_file)
void read(const std::string &calibration_file)
Calibration(const std::string &calibration_file)
Definition calibration.h:76
std::map< int, LaserCorrection > laser_corrections_
Definition calibration.h:70
class register implement
Definition arena_queue.h:37
correction values for a single laser
Definition calibration.h:43
float sin_rot_correction
cached sine of rot_correction
Definition calibration.h:60
float cos_rot_correction
cached values calculated when the calibration file is read
Definition calibration.h:59
float cos_vert_correction
cached cosine of vert_correction
Definition calibration.h:61
float rot_correction
parameters in db.xml
Definition calibration.h:45
int laser_ring
ring number for this laser
Definition calibration.h:64
float sin_vert_correction
cached sine of vert_correction
Definition calibration.h:62