Struct nebula::drivers::HesaiCorrection

ClassList > nebula > drivers > HesaiCorrection

struct for Hesai correction configuration (for AT)

• #include <hesai_common.hpp>

Inherits the following classes: nebula::drivers::HesaiCalibrationConfigurationBase

Public Attributes

Type	Name
uint8_t	SHA256
int32_t	azimuth
int8_t	azimuthOffset
uint8_t	channelNumber
uint16_t	delimiter
int32_t	elevation
int8_t	elevationOffset
uint32_t	endFrame
uint8_t	frameConfig
uint8_t	frameNumber
uint8_t	mirrorNumber
uint8_t	resolution
uint32_t	startFrame
uint8_t	versionMajor
uint8_t	versionMinor

Public Attributes inherited from nebula::drivers::CalibrationConfigurationBase

See nebula::drivers::CalibrationConfigurationBase

Type	Name
std::string	calibration_file

Public Static Attributes

Type	Name
const int	STEP3 = = 200 * 256

Public Functions

Type	Name
virtual nebula::Status	LoadFromBytes (const std::vector< uint8_t > & buf) override Load correction data from file.
virtual nebula::Status	LoadFromFile (const std::string & correction_file) override Load correction data from file.
virtual nebula::Status	SaveToFileFromBytes (const std::string & correction_file, const std::vector< uint8_t > & buf) override Save correction data from binary buffer.
int8_t	getAzimuthAdjustV3 (uint8_t ch, uint32_t azi) const Get azimuth adjustment for channel and precision azimuth.
int8_t	getElevationAdjustV3 (uint8_t ch, uint32_t azi) const Get elevation adjustment for channel and precision azimuth.
virtual std::tuple< float, float >	getFovPadding () override const

Public Functions inherited from nebula::drivers::HesaiCalibrationConfigurationBase

See nebula::drivers::HesaiCalibrationConfigurationBase

Type	Name
virtual nebula::Status	LoadFromBytes (const std::vector< uint8_t > & buf) = 0
virtual nebula::Status	LoadFromFile (const std::string & calibration_file) = 0
virtual nebula::Status	SaveToFileFromBytes (const std::string & calibration_file, const std::vector< uint8_t > & buf) = 0
virtual std::tuple< float, float >	getFovPadding () const = 0

Public Attributes Documentation

variable SHA256

uint8_t nebula::drivers::HesaiCorrection::SHA256[32];

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variable azimuth

int32_t nebula::drivers::HesaiCorrection::azimuth[128];

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variable azimuthOffset

int8_t nebula::drivers::HesaiCorrection::azimuthOffset[36000];

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variable channelNumber

uint8_t nebula::drivers::HesaiCorrection::channelNumber;

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variable delimiter

uint16_t nebula::drivers::HesaiCorrection::delimiter;

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variable elevation

int32_t nebula::drivers::HesaiCorrection::elevation[128];

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variable elevationOffset

int8_t nebula::drivers::HesaiCorrection::elevationOffset[36000];

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variable endFrame

uint32_t nebula::drivers::HesaiCorrection::endFrame[8];

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variable frameConfig

uint8_t nebula::drivers::HesaiCorrection::frameConfig[8];

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variable frameNumber

uint8_t nebula::drivers::HesaiCorrection::frameNumber;

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variable mirrorNumber

uint8_t nebula::drivers::HesaiCorrection::mirrorNumber;

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variable resolution

uint8_t nebula::drivers::HesaiCorrection::resolution;

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variable startFrame

uint32_t nebula::drivers::HesaiCorrection::startFrame[8];

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variable versionMajor

uint8_t nebula::drivers::HesaiCorrection::versionMajor;

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variable versionMinor

uint8_t nebula::drivers::HesaiCorrection::versionMinor;

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Public Static Attributes Documentation

variable STEP3

const int nebula::drivers::HesaiCorrection::STEP3;

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Public Functions Documentation

function LoadFromBytes

Load correction data from file.

inline virtual nebula::Status nebula::drivers::HesaiCorrection::LoadFromBytes (
    const std::vector< uint8_t > & buf
) override

Parameters:

• buf Binary buffer

Returns:

Resulting status

Implements nebula::drivers::HesaiCalibrationConfigurationBase::LoadFromBytes

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function LoadFromFile

Load correction data from file.

inline virtual nebula::Status nebula::drivers::HesaiCorrection::LoadFromFile (
    const std::string & correction_file
) override

Parameters:

• correction_file path

Returns:

Resulting status

Implements nebula::drivers::HesaiCalibrationConfigurationBase::LoadFromFile

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function SaveToFileFromBytes

Save correction data from binary buffer.

inline virtual nebula::Status nebula::drivers::HesaiCorrection::SaveToFileFromBytes (
    const std::string & correction_file,
    const std::vector< uint8_t > & buf
) override

Parameters:

• correction_file path
• buf correction binary

Returns:

Resulting status

Implements nebula::drivers::HesaiCalibrationConfigurationBase::SaveToFileFromBytes

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function getAzimuthAdjustV3

Get azimuth adjustment for channel and precision azimuth.

inline int8_t nebula::drivers::HesaiCorrection::getAzimuthAdjustV3 (
    uint8_t ch,
    uint32_t azi
) const

Parameters:

• ch The channel id
• azi The precision azimuth in (0.01 / 256) degree unit

Returns:

The azimuth adjustment in 0.01 degree unit

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function getElevationAdjustV3

Get elevation adjustment for channel and precision azimuth.

inline int8_t nebula::drivers::HesaiCorrection::getElevationAdjustV3 (
    uint8_t ch,
    uint32_t azi
) const

Parameters:

• ch The channel id
• azi The precision azimuth in (0.01 / 256) degree unit

Returns:

The elevation adjustment in 0.01 degree unit

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function getFovPadding

inline virtual std::tuple< float, float > nebula::drivers::HesaiCorrection::getFovPadding () override const

Implements nebula::drivers::HesaiCalibrationConfigurationBase::getFovPadding

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The documentation for this class was generated from the following file nebula_common/include/nebula_common/hesai/hesai_common.hpp