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 <math.h>
#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< VPoint >	velodyne_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::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::SIZE_BLOCK = 100
static const uint16_t	velodyne_rawdata::UPPER_BANK = 0xeeff
static const int	velodyne_rawdata::VLP16_BLOCK_TDURATION = 110.592
static const int	velodyne_rawdata::VLP16_DSR_TOFFSET = 2.304
static const int	velodyne_rawdata::VLP16_FIRING_TOFFSET = 55.296
static const int	velodyne_rawdata::VLP16_FIRINGS_PER_BLOCK = 2
static const int	velodyne_rawdata::VLP16_SCANS_PER_FIRING = 16

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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.