Struct VelodyneCalibration

• Defined in File VelodyneCalibration.h

Nested Relationships

Nested Types

• Struct VelodyneCalibration::PerLaserCalib

Struct Documentation

struct VelodyneCalibration

Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan

It is mandatory to use some calibration data to convert Velodyne scans into 3D point clouds. Users should normally use the XML files provided by the manufacturer with each scanner, but default calibration files can be loaded with VelodyneCalibration::LoadDefaultCalibration().

See also

CObservationVelodyneScan, CVelodyneScanner

Note

New in MRPT 1.4.0

Public Functions

VelodyneCalibration()

Default ctor (leaves all empty)

bool empty() const

Returns true if no calibration has been loaded yet

void clear()

Clear all previous contents

bool loadFromXMLFile(const std::string &velodyne_calibration_xml_filename)

Loads calibration from file, in the format supplied by the manufacturer.

Returns:

false on any error, true on success

bool loadFromXMLText(const std::string &xml_file_contents)

Loads calibration from a string containing an entire XML calibration file.

See also

loadFromXMLFile

Returns:

false on any error, true on success

bool loadFromYAMLText(const std::string &yaml_file_contents)

Loads calibration from a string containing an entire YAML calibration file.

See also

loadFromYAMLFile, loadFromXMLFile

Returns:

false on any error, true on success

bool loadFromYAMLFile(const std::string &velodyne_calib_yaml_filename)

Loads calibration from a YAML calibration file.

See also

loadFromYAMLText, loadFromXMLFile

Returns:

false on any error, true on success

Public Members

std::vector<PerLaserCalib> laser_corrections

Public Static Functions

static const VelodyneCalibration &LoadDefaultCalibration(const std::string &lidar_model)

Loads default calibration files for common LIDAR models.

Note

Default files can be inspected in [MRPT_SRC or /usr]/share/mrpt/config_files/rawlog-grabber/velodyne_default_calib_{*}.xml

Parameters:

lidar_model – [in] Valid model names are: VLP16, HDL32, HDL64

Returns:

It always return a calibration structure, but it may be empty if the model name is unknown. See empty()

struct PerLaserCalib

Public Functions

PerLaserCalib()

Public Members

double azimuthCorrection = {.0}

double verticalCorrection = {.0}

double distanceCorrection = {.0}

double verticalOffsetCorrection = {.0}

double horizontalOffsetCorrection = {.0}

double sinVertCorrection = {.0}

double cosVertCorrection = {1.0}

double sinVertOffsetCorrection = {.0}

double cosVertOffsetCorrection = {1.0}