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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 g_step3 = = 200 * 256

Public Functions

Type Name
int8_t get_azimuth_adjust_v3 (uint8_t ch, uint32_t azi) const
Get azimuth adjustment for channel and precision azimuth.
int8_t get_elevation_adjust_v3 (uint8_t ch, uint32_t azi) const
Get elevation adjustment for channel and precision azimuth.
virtual std::tuple< float, float > get_fov_padding () override const
virtual nebula::Status load_from_bytes (const std::vector< uint8_t > & buf) override
Load correction data from file.
virtual nebula::Status load_from_file (const std::string & correction_file) override
Load correction data from file.
virtual nebula::Status save_to_file_from_bytes (const std::string & correction_file, const std::vector< uint8_t > & buf) override
Save correction data from binary buffer.

Public Functions inherited from nebula::drivers::HesaiCalibrationConfigurationBase

See nebula::drivers::HesaiCalibrationConfigurationBase

Type Name
virtual std::tuple< float, float > get_fov_padding () const = 0
virtual nebula::Status load_from_bytes (const std::vector< uint8_t > & buf) = 0
virtual nebula::Status load_from_file (const std::string & calibration_file) = 0
virtual nebula::Status save_to_file_from_bytes (const std::string & calibration_file, const std::vector< uint8_t > & buf) = 0

Public Attributes Documentation

variable SHA256

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

variable azimuth

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

variable azimuthOffset

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

variable channelNumber

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

variable delimiter

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

variable elevation

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

variable elevationOffset

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

variable endFrame

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

variable frameConfig

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

variable frameNumber

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

variable mirrorNumber

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

variable resolution

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

variable startFrame

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

variable versionMajor

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

variable versionMinor

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

Public Static Attributes Documentation

variable g_step3

const int nebula::drivers::HesaiCorrection::g_step3;

Public Functions Documentation

function get_azimuth_adjust_v3

Get azimuth adjustment for channel and precision azimuth. 

inline int8_t nebula::drivers::HesaiCorrection::get_azimuth_adjust_v3 (
    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

function get_elevation_adjust_v3

Get elevation adjustment for channel and precision azimuth. 

inline int8_t nebula::drivers::HesaiCorrection::get_elevation_adjust_v3 (
    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

function get_fov_padding

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

Implements nebula::drivers::HesaiCalibrationConfigurationBase::get_fov_padding

function load_from_bytes

Load correction data from file. 

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

Parameters:

  • buf Binary buffer

Returns:

Resulting status

Implements nebula::drivers::HesaiCalibrationConfigurationBase::load_from_bytes

function load_from_file

Load correction data from file. 

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

Parameters:

  • correction_file path

Returns:

Resulting status

Implements nebula::drivers::HesaiCalibrationConfigurationBase::load_from_file

function save_to_file_from_bytes

Save correction data from binary buffer. 

inline virtual nebula::Status nebula::drivers::HesaiCorrection::save_to_file_from_bytes (
    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::save_to_file_from_bytes

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