velodyne_rawdata Namespace Reference

Classes
struct	raw_block
	Raw Velodyne data block. More...
struct	raw_packet
	Raw Velodyne packet. More...
class	RawData
	Velodyne data conversion class. More...
union	two_bytes
Typedefs
typedef struct velodyne_rawdata::raw_block	raw_block_t
	Raw Velodyne data block.
typedef struct velodyne_rawdata::raw_packet	raw_packet_t
	Raw Velodyne packet.
typedef velodyne_pointcloud::PointXYZIR	VPoint
typedef pcl::PointCloud< VPoint >	VPointCloud
Variables
static const int	BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	BLOCKS_PER_PACKET = 12
static const float	DISTANCE_MAX = 130.0f
static const float	DISTANCE_MAX_UNITS
static const float	DISTANCE_RESOLUTION = 0.002f
static const uint16_t	LOWER_BANK = 0xddff
static const int	PACKET_SIZE = 1206
static const int	PACKET_STATUS_SIZE = 4
static const int	RAW_SCAN_SIZE = 3
static const uint16_t	ROTATION_MAX_UNITS = 36000
static const float	ROTATION_RESOLUTION = 0.01f
static const int	SCANS_PER_BLOCK = 32
static const int	SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	SIZE_BLOCK = 100
static const uint16_t	UPPER_BANK = 0xeeff
static const int	VLP16_BLOCK_TDURATION = 110.592
static const int	VLP16_DSR_TOFFSET = 2.304
static const int	VLP16_FIRING_TOFFSET = 55.296
static const int	VLP16_FIRINGS_PER_BLOCK = 2
static const int	VLP16_SCANS_PER_FIRING = 16

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Typedef Documentation

typedef struct velodyne_rawdata::raw_block velodyne_rawdata::raw_block_t

Raw Velodyne data block.

Each block contains data from either the upper or lower laser bank. The device returns three times as many upper bank blocks.

use stdint.h types, so things work with both 64 and 32-bit machines

typedef struct velodyne_rawdata::raw_packet velodyne_rawdata::raw_packet_t

Raw Velodyne packet.

revolution is described in the device manual as incrementing (mod 65536) for each physical turn of the device. Our device seems to alternate between two different values every third packet. One value increases, the other decreases.

Todo:

figure out if revolution is only present for one of the two types of status fields

status has either a temperature encoding or the microcode level

typedef velodyne_pointcloud::PointXYZIR velodyne_rawdata::VPoint

Definition at line 38 of file rawdata.h.

typedef pcl::PointCloud<VPoint> velodyne_rawdata::VPointCloud

Definition at line 39 of file rawdata.h.

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Variable Documentation

const int velodyne_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE) [static]

Definition at line 47 of file rawdata.h.

const int velodyne_rawdata::BLOCKS_PER_PACKET = 12 [static]

Definition at line 96 of file rawdata.h.

const float velodyne_rawdata::DISTANCE_MAX = 130.0f [static]

According to Bruce Hall DISTANCE_MAX is 65.0, but we noticed valid packets with readings up to 130.0. meters

Definition at line 54 of file rawdata.h.

const float velodyne_rawdata::DISTANCE_MAX_UNITS [static]

Initial value:

 (DISTANCE_MAX
                                           / DISTANCE_RESOLUTION + 1.0)

Definition at line 56 of file rawdata.h.

const float velodyne_rawdata::DISTANCE_RESOLUTION = 0.002f [static]

meters

Definition at line 55 of file rawdata.h.

const uint16_t velodyne_rawdata::LOWER_BANK = 0xddff [static]

Definition at line 59 of file rawdata.h.

const int velodyne_rawdata::PACKET_SIZE = 1206 [static]

Definition at line 95 of file rawdata.h.

const int velodyne_rawdata::PACKET_STATUS_SIZE = 4 [static]

Definition at line 97 of file rawdata.h.

const int velodyne_rawdata::RAW_SCAN_SIZE = 3 [static]

Definition at line 45 of file rawdata.h.

const uint16_t velodyne_rawdata::ROTATION_MAX_UNITS = 36000 [static]

hundredths of degrees

Definition at line 50 of file rawdata.h.

const float velodyne_rawdata::ROTATION_RESOLUTION = 0.01f [static]

degrees

Definition at line 49 of file rawdata.h.

const int velodyne_rawdata::SCANS_PER_BLOCK = 32 [static]

Definition at line 46 of file rawdata.h.

const int velodyne_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET) [static]

Definition at line 98 of file rawdata.h.

const int velodyne_rawdata::SIZE_BLOCK = 100 [static]

Raw Velodyne packet constants and structures.

Definition at line 44 of file rawdata.h.

const uint16_t velodyne_rawdata::UPPER_BANK = 0xeeff [static]

Definition at line 58 of file rawdata.h.

const int velodyne_rawdata::VLP16_BLOCK_TDURATION = 110.592 [static]

Definition at line 65 of file rawdata.h.

const int velodyne_rawdata::VLP16_DSR_TOFFSET = 2.304 [static]

Definition at line 66 of file rawdata.h.

const int velodyne_rawdata::VLP16_FIRING_TOFFSET = 55.296 [static]

Definition at line 67 of file rawdata.h.

const int velodyne_rawdata::VLP16_FIRINGS_PER_BLOCK = 2 [static]

Special Defines for VLP16 support

Definition at line 63 of file rawdata.h.

const int velodyne_rawdata::VLP16_SCANS_PER_FIRING = 16 [static]

Definition at line 64 of file rawdata.h.