Class nebula::drivers::AngleCorrectorCalibrationBased

template <size_t ChannelN, size_t AngleUnit>

ClassList > nebula > drivers > AngleCorrectorCalibrationBased

• #include <angle_corrector_calibration_based.hpp>

Inherits the following classes: nebula::drivers::AngleCorrector

Public Types inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Public Functions

Public Functions inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Public Functions Documentation

function AngleCorrectorCalibrationBased

Construct an AngleCorrectorCalibrationBased and pre-compute trigonometry lookup tables.

inline explicit nebula::drivers::AngleCorrectorCalibrationBased::AngleCorrectorCalibrationBased (
    const std::shared_ptr< const HesaiCalibrationConfiguration > & sensor_calibration
) 

Parameters:

• sensor_calibration The sensor calibration data
• fov_start_azimuth_deg The start of the FoV in spatial degrees
• fov_end_azimuth_deg The end of the FoV in spatial degrees
• scan_cut_azimuth_deg The angle at which the scan is cut in spatial degrees

Exception:

• std::runtime_error if the sensor calibration data is nullptr

Returns:

The constructed AngleCorrectorCalibrationBased

function get_corrected_angle_data

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

inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCalibrationBased::get_corrected_angle_data (
    uint32_t encoder_azimuth,
    uint32_t channel_id
) override const

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

Implements nebula::drivers::AngleCorrector::get_corrected_angle_data

function get_corrected_azimuths

inline virtual CorrectedAzimuths< ChannelN, float > nebula::drivers::AngleCorrectorCalibrationBased::get_corrected_azimuths (
    uint32_t block_azimuth
) override const

Implements nebula::drivers::AngleCorrector::get_corrected_azimuths

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