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rawdata.h File Reference

Interfaces for interpreting raw packets from the Velodyne 3D LIDAR. More...

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <velodyne_pointcloud/point_types.h>
#include <velodyne_pointcloud/calibration.h>
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Classes

struct  velodyne_rawdata::RawData::Config
struct  velodyne_rawdata::raw_block
 Raw Velodyne data block. More...
struct  velodyne_rawdata::raw_packet
 Raw Velodyne packet. More...
class  velodyne_rawdata::RawData
 Velodyne data conversion class. More...
union  velodyne_rawdata::two_bytes

Namespaces

namespace  velodyne_rawdata

Typedefs

typedef struct
velodyne_rawdata::raw_block 
velodyne_rawdata::raw_block_t
 Raw Velodyne data block.
typedef struct
velodyne_rawdata::raw_packet 
velodyne_rawdata::raw_packet_t
 Raw Velodyne packet.
typedef
velodyne_pointcloud::PointXYZIR 
velodyne_rawdata::VPoint
typedef pcl::PointCloud< VPointvelodyne_rawdata::VPointCloud

Variables

static const int velodyne_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int velodyne_rawdata::BLOCKS_PER_PACKET = 12
static const float velodyne_rawdata::DISTANCE_MAX = 130.0f
static const float velodyne_rawdata::DISTANCE_MAX_UNITS
static const float velodyne_rawdata::DISTANCE_RESOLUTION = 0.002f
static const uint16_t velodyne_rawdata::LOWER_BANK = 0xddff
static const int velodyne_rawdata::PACKET_SIZE = 1206
static const int velodyne_rawdata::PACKET_STATUS_SIZE = 4
static const int velodyne_rawdata::PACKETS_PER_REV = 260
static const int velodyne_rawdata::RAW_SCAN_SIZE = 3
static const uint16_t velodyne_rawdata::ROTATION_MAX_UNITS = 36000
static const float velodyne_rawdata::ROTATION_RESOLUTION = 0.01f
static const int velodyne_rawdata::SCANS_PER_BLOCK = 32
static const int velodyne_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int velodyne_rawdata::SCANS_PER_REV = (SCANS_PER_PACKET * PACKETS_PER_REV)
static const int velodyne_rawdata::SIZE_BLOCK = 100
static const uint16_t velodyne_rawdata::UPPER_BANK = 0xeeff

Detailed Description

Interfaces for interpreting raw packets from the Velodyne 3D LIDAR.

Author:
Yaxin Liu
Patrick Beeson
Jack O'Quin

Definition in file rawdata.h.

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velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Sat Mar 2 14:11:54 2013