Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::LidarVLP16 Class Reference

#include <LidarVLP16.h>

Inheritance diagram for rtabmap::LidarVLP16:
Inheritance graph
[legend]

Public Member Functions

virtual std::string getSerial () const override
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="") override
 
 LidarVLP16 (const boost::asio::ip::address &ipAddress, const std::uint16_t port=2368, bool organized=false, bool useHostTime=true, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
 
 LidarVLP16 (const std::string &pcapFile, bool organized=false, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
 
void setOrganized (bool enable)
 
SensorData takeScan (SensorCaptureInfo *info=0)
 
virtual ~LidarVLP16 ()
 
- Public Member Functions inherited from rtabmap::Lidar
virtual ~Lidar ()
 
- Public Member Functions inherited from rtabmap::SensorCapture
float getFrameRate () const
 
const TransformgetLocalTransform () const
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 
virtual bool odomProvided () const
 
void resetTimer ()
 
void setFrameRate (float frameRate)
 
void setLocalTransform (const Transform &localTransform)
 
SensorData takeData (SensorCaptureInfo *info=0)
 
virtual ~SensorCapture ()
 

Protected Member Functions

virtual SensorData captureData (SensorCaptureInfo *info=0) override
 
- Protected Member Functions inherited from rtabmap::Lidar
 Lidar (float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
 
- Protected Member Functions inherited from rtabmap::SensorCapture
int getNextSeqID ()
 
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 

Private Member Functions

void buildTimings (bool dualMode)
 
virtual void toPointClouds (HDLDataPacket *dataPacket) override
 

Private Attributes

std::vector< std::vector< PointXYZIT > > accumulatedScans_
 
SensorData lastScan_
 
UMutex lastScanMutex_
 
bool organized_
 
USemaphore scanReady_
 
bool stampLast_
 
double startSweepTime_
 
double startSweepTimeHost_
 
std::vector< std::vector< float > > timingOffsets_
 
bool timingOffsetsDualMode_
 
bool useHostTime_
 

Detailed Description

Definition at line 45 of file LidarVLP16.h.

Constructor & Destructor Documentation

◆ LidarVLP16() [1/2]

rtabmap::LidarVLP16::LidarVLP16 ( const std::string pcapFile,
bool  organized = false,
bool  stampLast = true,
float  frameRate = 0.0f,
Transform  localTransform = Transform::getIdentity() 
)

Definition at line 82 of file LidarVLP16.cpp.

◆ LidarVLP16() [2/2]

rtabmap::LidarVLP16::LidarVLP16 ( const boost::asio::ip::address &  ipAddress,
const std::uint16_t  port = 2368,
bool  organized = false,
bool  useHostTime = true,
bool  stampLast = true,
float  frameRate = 0.0f,
Transform  localTransform = Transform::getIdentity() 
)

Definition at line 99 of file LidarVLP16.cpp.

◆ ~LidarVLP16()

rtabmap::LidarVLP16::~LidarVLP16 ( )
virtual

Definition at line 119 of file LidarVLP16.cpp.

Member Function Documentation

◆ buildTimings()

void rtabmap::LidarVLP16::buildTimings ( bool  dualMode)
private

Build a timing table for each block/firing. Stores in timing_offsets vector

Definition at line 162 of file LidarVLP16.cpp.

◆ captureData()

SensorData rtabmap::LidarVLP16::captureData ( SensorCaptureInfo info = 0)
overrideprotectedvirtual

returned rgb and depth images should be already rectified if calibration was loaded

Implements rtabmap::SensorCapture.

Definition at line 358 of file LidarVLP16.cpp.

◆ getSerial()

virtual std::string rtabmap::LidarVLP16::getSerial ( ) const
inlineoverridevirtual

Implements rtabmap::SensorCapture.

Definition at line 66 of file LidarVLP16.h.

◆ init()

bool rtabmap::LidarVLP16::init ( const std::string calibrationFolder = ".",
const std::string cameraName = "" 
)
overridevirtual

Implements rtabmap::SensorCapture.

Definition at line 132 of file LidarVLP16.cpp.

◆ setOrganized()

void rtabmap::LidarVLP16::setOrganized ( bool  enable)

Definition at line 127 of file LidarVLP16.cpp.

◆ takeScan()

SensorData rtabmap::LidarVLP16::takeScan ( SensorCaptureInfo info = 0)
inline

Definition at line 63 of file LidarVLP16.h.

◆ toPointClouds()

void rtabmap::LidarVLP16::toPointClouds ( HDLDataPacket *  dataPacket)
overrideprivatevirtual

Definition at line 191 of file LidarVLP16.cpp.

Member Data Documentation

◆ accumulatedScans_

std::vector<std::vector<PointXYZIT> > rtabmap::LidarVLP16::accumulatedScans_
private

Definition at line 87 of file LidarVLP16.h.

◆ lastScan_

SensorData rtabmap::LidarVLP16::lastScan_
private

Definition at line 86 of file LidarVLP16.h.

◆ lastScanMutex_

UMutex rtabmap::LidarVLP16::lastScanMutex_
private

Definition at line 89 of file LidarVLP16.h.

◆ organized_

bool rtabmap::LidarVLP16::organized_
private

Definition at line 83 of file LidarVLP16.h.

◆ scanReady_

USemaphore rtabmap::LidarVLP16::scanReady_
private

Definition at line 88 of file LidarVLP16.h.

◆ stampLast_

bool rtabmap::LidarVLP16::stampLast_
private

Definition at line 85 of file LidarVLP16.h.

◆ startSweepTime_

double rtabmap::LidarVLP16::startSweepTime_
private

Definition at line 81 of file LidarVLP16.h.

◆ startSweepTimeHost_

double rtabmap::LidarVLP16::startSweepTimeHost_
private

Definition at line 82 of file LidarVLP16.h.

◆ timingOffsets_

std::vector< std::vector<float> > rtabmap::LidarVLP16::timingOffsets_
private

Definition at line 79 of file LidarVLP16.h.

◆ timingOffsetsDualMode_

bool rtabmap::LidarVLP16::timingOffsetsDualMode_
private

Definition at line 80 of file LidarVLP16.h.

◆ useHostTime_

bool rtabmap::LidarVLP16::useHostTime_
private

Definition at line 84 of file LidarVLP16.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27