RSLIDAR data conversion class. More...
#include <rawdata.h>
Public Member Functions | |
| float | calibrateIntensity (float inten, int calIdx, int distance) |
| float | calibrateIntensity_old (float inten, int calIdx, int distance) |
| float | computeTemperature (unsigned char bit1, unsigned char bit2) |
| int | correctAzimuth (float azimuth_f, int passageway) |
| int | estimateTemperature (float Temper) |
| int | isABPacket (int distance) |
| void | loadConfigFile (ros::NodeHandle node, ros::NodeHandle private_nh) |
| float | pixelToDistance (int pixelValue, int passageway) |
| void | processDifop (const rslidar_msgs::rslidarPacket::ConstPtr &difop_msg) |
| RawData () | |
| void | unpack (const rslidar_msgs::rslidarPacket &pkt, pcl::PointCloud< pcl::PointXYZI >::Ptr pointcloud) |
| convert raw packet to point cloud More... | |
| void | unpack_RS32 (const rslidar_msgs::rslidarPacket &pkt, pcl::PointCloud< pcl::PointXYZI >::Ptr pointcloud) |
| ~RawData () | |
Public Attributes | |
| int | block_num = 0 |
| ros::Subscriber | difop_sub_ |
| int | dis_resolution_mode = 0 |
| int | intensity_mode_ |
| int | intensityFactor |
| bool | is_init_angle_ |
| bool | is_init_curve_ |
| bool | is_init_top_fw_ |
| float | max_distance |
| float | min_distance |
| rslidar_rawdata::RawData::RawData | ( | ) |
Definition at line 59 of file rawdata.cc.
| float rslidar_rawdata::RawData::calibrateIntensity | ( | float | inten, |
| int | calIdx, | ||
| int | distance | ||
| ) |
Definition at line 448 of file rawdata.cc.
| float rslidar_rawdata::RawData::calibrateIntensity_old | ( | float | inten, |
| int | calIdx, | ||
| int | distance | ||
| ) |
Definition at line 575 of file rawdata.cc.
| float rslidar_rawdata::RawData::computeTemperature | ( | unsigned char | bit1, |
| unsigned char | bit2 | ||
| ) |
Definition at line 629 of file rawdata.cc.
| int rslidar_rawdata::RawData::correctAzimuth | ( | float | azimuth_f, |
| int | passageway | ||
| ) |
Definition at line 429 of file rawdata.cc.
| int rslidar_rawdata::RawData::estimateTemperature | ( | float | Temper | ) |
Definition at line 648 of file rawdata.cc.
| int rslidar_rawdata::RawData::isABPacket | ( | int | distance | ) |
Definition at line 614 of file rawdata.cc.
| void rslidar_rawdata::RawData::loadConfigFile | ( | ros::NodeHandle | node, |
| ros::NodeHandle | private_nh | ||
| ) |
读参数文件 2017-02-27
Definition at line 66 of file rawdata.cc.
| float rslidar_rawdata::RawData::pixelToDistance | ( | int | pixelValue, |
| int | passageway | ||
| ) |
Definition at line 414 of file rawdata.cc.
| void rslidar_rawdata::RawData::processDifop | ( | const rslidar_msgs::rslidarPacket::ConstPtr & | difop_msg | ) |
Definition at line 266 of file rawdata.cc.
| void rslidar_rawdata::RawData::unpack | ( | const rslidar_msgs::rslidarPacket & | pkt, |
| pcl::PointCloud< pcl::PointXYZI >::Ptr | pointcloud | ||
| ) |
convert raw packet to point cloud
| pkt | raw packet to unpack |
| pc | shared pointer to point cloud (points are appended) |
Definition at line 669 of file rawdata.cc.
| void rslidar_rawdata::RawData::unpack_RS32 | ( | const rslidar_msgs::rslidarPacket & | pkt, |
| pcl::PointCloud< pcl::PointXYZI >::Ptr | pointcloud | ||
| ) |
Definition at line 792 of file rawdata.cc.
| ros::Subscriber rslidar_rawdata::RawData::difop_sub_ |