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
See nebula::drivers::AngleCorrector
Type | Name |
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typedef CorrectionDataT | correction_data_t |
Public Types inherited from nebula::drivers::AngleCorrector
See nebula::drivers::AngleCorrector
Type | Name |
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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 | get_corrected_angle_data (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 | get_corrected_angle_data (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 | has_scanned (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 | is_inside_fov (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | is_inside_overlap (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | passed_emit_angle (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | passed_timestamp_reset_angle (uint32_t last_azimuth, uint32_t current_azimuth) override |
Public Functions inherited from nebula::drivers::AngleCorrector
See nebula::drivers::AngleCorrector
Type | Name |
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AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration) |
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virtual CorrectedAngleData | get_corrected_angle_data (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 | get_corrected_angle_data (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 | has_scanned (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 | is_inside_fov (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | is_inside_overlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | passed_emit_angle (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | passed_timestamp_reset_angle (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
Public Functions inherited from nebula::drivers::AngleCorrector
See nebula::drivers::AngleCorrector
Type | Name |
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AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration) |
|
virtual CorrectedAngleData | get_corrected_angle_data (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 | get_corrected_angle_data (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 | has_scanned (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 | is_inside_fov (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | is_inside_overlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | passed_emit_angle (uint32_t last_azimuth, uint32_t current_azimuth) = 0 |
virtual bool | passed_timestamp_reset_angle (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 get_corrected_angle_data [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::get_corrected_angle_data (
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 unitchannel_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_angle_data [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::get_corrected_angle_data (
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 unitchannel_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 has_scanned
Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.
inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::has_scanned (
int current_azimuth,
int last_azimuth
) override
Parameters:
current_azimuth
The current azimuth value in the sensor's angle resolutionlast_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::has_scanned
function is_inside_fov
inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::is_inside_fov (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::is_inside_fov
function is_inside_overlap
inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::is_inside_overlap (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::is_inside_overlap
function passed_emit_angle
inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::passed_emit_angle (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::passed_emit_angle
function passed_timestamp_reset_angle
inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::passed_timestamp_reset_angle (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::passed_timestamp_reset_angle
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