calibration.h
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00001 
00012 #ifndef __VELODYNE_CALIBRATION_H
00013 #define __VELODYNE_CALIBRATION_H
00014 
00015 #include <map>
00016 #include <string>
00017 
00018 namespace velodyne_pointcloud {
00019 
00026   struct LaserCorrection {
00027 
00029     float rot_correction;
00030     float vert_correction;
00031     float dist_correction;
00032     bool two_pt_correction_available;
00033     float dist_correction_x;
00034     float dist_correction_y;
00035     float vert_offset_correction;
00036     float horiz_offset_correction;
00037     int max_intensity;
00038     int min_intensity;
00039     float focal_distance;
00040     float focal_slope;
00041 
00043     float cos_rot_correction;              
00044     float sin_rot_correction;              
00045     float cos_vert_correction;             
00046     float sin_vert_correction;             
00047 
00048     int laser_ring;                        
00049   };
00050 
00052   class Calibration {
00053 
00054   public:
00055 
00056     std::map<int, LaserCorrection> laser_corrections;
00057     int num_lasers;
00058     bool initialized;
00059 
00060   public:
00061 
00062     Calibration() : initialized(false) {}
00063     Calibration(const std::string& calibration_file) {
00064       read(calibration_file);
00065     }
00066 
00067     void read(const std::string& calibration_file);
00068     void write(const std::string& calibration_file);
00069   };
00070   
00071 } /* velodyne_pointcloud */
00072 
00073 
00074 #endif /* end of include guard: __VELODYNE_CALIBRATION_H */
00075 
00076 


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Thu Aug 27 2015 15:37:05