Class nebula::drivers::AngleCorrector

template <typename CorrectionDataT, size_t ChannelN>

ClassList > nebula > drivers > AngleCorrector

Handles angle correction for given azimuth/channel combinations, as well as trigonometry lookup tables. More...

• #include <angle_corrector.hpp>

Public Types

Public Functions

Detailed Description

This module performs conversions between raw encoder angles as sent by the sensor, and user-facing spatial angles as output in pointclouds.

Terminology: * encoder angle: raw angle as sent by the sensor * spatial angle: user-facing, geometrically meaningful angle as output in pointclouds, used for scan cutting and FoV settings

Public Types Documentation

typedef correction_data_t

using nebula::drivers::AngleCorrector< CorrectionDataT, ChannelN >::correction_data_t =  CorrectionDataT;

Public Functions Documentation

function get_corrected_angle_data

Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.

virtual CorrectedAngleData nebula::drivers::AngleCorrector::get_corrected_angle_data (
    uint32_t encoder_azimuth,
    uint32_t channel_id
) const = 0

Parameters:

• block_azimuth The block's azimuth (including optional fine azimuth), in the sensor's angle unit
• channel_id The laser channel's id

Returns:

The corrected angles (azimuth, elevation) in radians and their sin/cos values

function get_corrected_azimuths

virtual CorrectedAzimuths< ChannelN, float > nebula::drivers::AngleCorrector::get_corrected_azimuths (
    uint32_t block_azimuth
) const = 0

function ~AngleCorrector

virtual nebula::drivers::AngleCorrector::~AngleCorrector () = default

The documentation for this class was generated from the following file src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/angle_corrector.hpp