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, nebula::drivers::AngleCorrector

Public Types inherited from nebula::drivers::AngleCorrector

Type	Name
typedef CorrectionDataT	correction_data_t

Public Types inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type	Name
typedef CorrectionDataT	correction_data_t

Public Attributes

Type	Name
uint32_t	emit_angle_raw_
uint32_t	fov_end_raw_
uint32_t	fov_start_raw_
bool	is_360_
uint32_t	timestamp_reset_angle_raw_

Public Functions

Type	Name
	AngleCorrectorCalibrationBased (const std::shared_ptr< const HesaiCalibrationConfiguration > & sensor_calibration, double fov_start_azimuth_deg, double fov_end_azimuth_deg, double scan_cut_azimuth_deg)
	AngleCorrectorCalibrationBased (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) override Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) override Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool	hasScanned (int current_azimuth, int last_azimuth) override Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.
virtual bool	isInsideFoV (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	isInsideOverlap (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	passedEmitAngle (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	passedTimestampResetAngle (uint32_t last_azimuth, uint32_t current_azimuth) override

Public Functions inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type	Name
	AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) = 0 Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) = 0 Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool	hasScanned (int current_azimuth, int last_azimuth) = 0 Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.
virtual bool	isInsideFoV (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	isInsideOverlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedEmitAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedTimestampResetAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0

Public Functions inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type	Name
	AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) = 0 Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) = 0 Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool	hasScanned (int current_azimuth, int last_azimuth) = 0 Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.
virtual bool	isInsideFoV (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	isInsideOverlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedEmitAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedTimestampResetAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0

Protected Attributes inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type	Name
const std::shared_ptr< const RobosenseCalibrationConfiguration >	sensor_calibration_

Protected Attributes inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type	Name
const std::shared_ptr< const RobosenseCalibrationConfiguration >	sensor_calibration_

Public Attributes Documentation

variable emit_angle_raw_

uint32_t nebula::drivers::AngleCorrectorCalibrationBased< ChannelN, AngleUnit >::emit_angle_raw_;

variable fov_end_raw_

uint32_t nebula::drivers::AngleCorrectorCalibrationBased< ChannelN, AngleUnit >::fov_end_raw_;

variable fov_start_raw_

uint32_t nebula::drivers::AngleCorrectorCalibrationBased< ChannelN, AngleUnit >::fov_start_raw_;

variable is_360_

bool nebula::drivers::AngleCorrectorCalibrationBased< ChannelN, AngleUnit >::is_360_;

variable timestamp_reset_angle_raw_

uint32_t nebula::drivers::AngleCorrectorCalibrationBased< ChannelN, AngleUnit >::timestamp_reset_angle_raw_;

Public Functions Documentation

function AngleCorrectorCalibrationBased [1/2]

inline explicit nebula::drivers::AngleCorrectorCalibrationBased::AngleCorrectorCalibrationBased (
    const std::shared_ptr< const HesaiCalibrationConfiguration > & sensor_calibration,
    double fov_start_azimuth_deg,
    double fov_end_azimuth_deg,
    double scan_cut_azimuth_deg
)

function AngleCorrectorCalibrationBased [2/2]

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

function getCorrectedAngleData [1/2]

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

inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCalibrationBased::getCorrectedAngleData (
    uint32_t block_azimuth,
    uint32_t channel_id
) override

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::getCorrectedAngleData

function getCorrectedAngleData [1/2]

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

inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCalibrationBased::getCorrectedAngleData (
    uint32_t block_azimuth,
    uint32_t channel_id
) override

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::getCorrectedAngleData

function hasScanned

Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::hasScanned (
    int current_azimuth,
    int last_azimuth
) override

Parameters:

current_azimuth The current azimuth value in the sensor's angle resolution
last_azimuth The last azimuth in the sensor's angle resolution

Returns:

true if the current azimuth is in a different scan than the last one, false otherwise

Implements nebula::drivers::AngleCorrector::hasScanned

function isInsideFoV

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::isInsideFoV (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::isInsideFoV

function isInsideOverlap

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::isInsideOverlap (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::isInsideOverlap

function passedEmitAngle

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::passedEmitAngle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::passedEmitAngle

function passedTimestampResetAngle

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::passedTimestampResetAngle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::passedTimestampResetAngle

The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp