rtabmap::LidarVLP16 Class Reference

#include <LidarVLP16.h>

Inheritance diagram for rtabmap::LidarVLP16:

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 Transform &	getLocalTransform () 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 46 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 67 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 64 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 88 of file LidarVLP16.h.

lastScan_

SensorData rtabmap::LidarVLP16::lastScan_

private

Definition at line 87 of file LidarVLP16.h.

lastScanMutex_

UMutex rtabmap::LidarVLP16::lastScanMutex_

private

Definition at line 90 of file LidarVLP16.h.

organized_

bool rtabmap::LidarVLP16::organized_

private

Definition at line 84 of file LidarVLP16.h.

scanReady_

USemaphore rtabmap::LidarVLP16::scanReady_

private

Definition at line 89 of file LidarVLP16.h.

stampLast_

bool rtabmap::LidarVLP16::stampLast_

private

Definition at line 86 of file LidarVLP16.h.

startSweepTime_

double rtabmap::LidarVLP16::startSweepTime_

private

Definition at line 82 of file LidarVLP16.h.

startSweepTimeHost_

double rtabmap::LidarVLP16::startSweepTimeHost_

private

Definition at line 83 of file LidarVLP16.h.

timingOffsets_

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

private

Definition at line 80 of file LidarVLP16.h.

timingOffsetsDualMode_

bool rtabmap::LidarVLP16::timingOffsetsDualMode_

private

Definition at line 81 of file LidarVLP16.h.

useHostTime_

bool rtabmap::LidarVLP16::useHostTime_

private

Definition at line 85 of file LidarVLP16.h.

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

• LidarVLP16.h
• LidarVLP16.cpp