Program Listing for File scansegment_parser_output.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* @brief class ScanSegmentParserOutput is the output container for unpacked and converted msgpack and compact data for multiScan136 and picoScan.
* In case of multiScan136, ScanSegmentParserOutput has 16 groups (layers), each group has 3 echos, each echo has a list of LidarPoint data in catesian coordinates
* (x, y, z in meter and intensity). In case of picoScan, ScanSegmentParserOutput has 1 layer.
*
* Usage example for msgpack data:
*
* std::ifstream msgpack_istream("polarscan_testdata_000.msg", std::ios::binary);
* sick_scansegment_xd::ScanSegmentParserOutput scansegment_output;
* sick_scansegment_xd::MsgPackParser::Parse(msgpack_istream, scansegment_output);
*
* sick_scansegment_xd::MsgPackParser::WriteCSV({ scansegment_output }, "polarscan_testdata_000.csv")
*
* for (int groupIdx = 0; groupIdx < scansegment_output.scandata.size(); groupIdx++)
* {
* for (int echoIdx = 0; echoIdx < scansegment_output.scandata[groupIdx].size(); echoIdx++)
* {
* std::vector<sick_scansegment_xd::ScanSegmentParserOutput::LidarPoint>& scanline = scansegment_output.scandata[groupIdx][echoIdx];
* std::cout << (groupIdx + 1) << ". group, " << (echoIdx + 1) << ". echo: ";
* for (int pointIdx = 0; pointIdx < scanline.size(); pointIdx++)
* {
* sick_scansegment_xd::ScanSegmentParserOutput::PointXYZI& point = scanline[pointIdx];
* std::cout << (pointIdx > 0 ? "," : "") << "(" << point.x << "," << point.y << "," << point.z << "," << point.i << ")";
* }
* std::cout << std::endl;
* }
* }
*
* Copyright (C) 2020 Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2020 SICK AG, Waldkirch
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
* Copyright 2020 SICK AG
* Copyright 2020 Ing.-Buero Dr. Michael Lehning
*
*/
#ifndef __SICK_SCANSEGMENT_XD_PARSER_OUTPUT_H
#define __SICK_SCANSEGMENT_XD_PARSER_OUTPUT_H
#include "sick_scan/sick_ros_wrapper.h"
namespace sick_scansegment_xd
{
/*
* @brief class ScanSegmentParserConfig is a container for configuration and settings for multiScan and picoScan parser
*/
class ScanSegmentParserConfig
{
public:
int imu_latency_microsec = 0; // imu latency in microseconds
};
/*
* @brief class CompactImuData is a container for imu data in compact format
*/
class CompactImuData
{
public:
bool valid = false;
float acceleration_x = 0; // 4 bytes float in m/s^2, acceleration along the x-axis including gravity
float acceleration_y = 0; // 4 bytes float in m/s^2, acceleration along the y-axis including gravity
float acceleration_z = 0; // 4 bytes float in m/s^2, acceleration along the z-axis including gravity
float angular_velocity_x = 0; // 4 bytes float in rad/s
float angular_velocity_y = 0; // 4 bytes float in rad/s
float angular_velocity_z = 0; // 4 bytes float in rad/s
float orientation_w = 0; // 4 bytes float, orientation quaternion w
float orientation_x = 0; // 4 bytes float, orientation quaternion x
float orientation_y = 0; // 4 bytes float, orientation quaternion y
float orientation_z = 0; // 4 bytes float, orientation quaternion z
std::string to_string() const; // returns a human readable description of the imu data
};
class ScanSegmentParserOutput
{
public:
ScanSegmentParserOutput();
/*
* @brief class LidarPoint is a data point in cartesian coordinates with x, y, z in meter and an intensity value.
* Additionally, polar coordinates with azimuth and elevation in radians and distance in meter are given plus the
* group index (0 up to 15 for multiScan136) and the echo index (0 up to 2).
*/
class LidarPoint
{
public:
LidarPoint() : x(0), y(0), z(0), i(0), range(0), azimuth(0), elevation(0), groupIdx(0), echoIdx(0), pointIdx(0), reflectorbit(0) {}
LidarPoint(float _x, float _y, float _z, float _i, float _range, float _azimuth, float _elevation, int _groupIdx, int _echoIdx, int _pointIdx, uint8_t _reflector_bit)
: x(_x), y(_y), z(_z), i(_i), range(_range), azimuth(_azimuth), elevation(_elevation), groupIdx(_groupIdx), echoIdx(_echoIdx), pointIdx(_pointIdx), reflectorbit(_reflector_bit) {}
float x; // cartesian x coordinate in meter
float y; // cartesian y coordinate in meter
float z; // cartesian z coordinate in meter
float i; // intensity
float range; // polar coordinate range in meter
float azimuth; // polar coordinate azimuth in radians
float elevation; // polar coordinate elevation in radians
int groupIdx; // group index (layer), 0 <= groupIdx < 16 for multiScan136
int echoIdx; // echo index, 0 <= echoIdx < 3 for multiScan136
int pointIdx; // point index, 0 <= pointIdx < 30 resp. 0 <= pointIdx < 240 for multiScan136
uint8_t reflectorbit; // optional reflector bit, 0 or 1, default: 0
};
/*
* @brief type Scanline is a vector of LidarPoint data. multiScan136 and picoScan transmit up to 3 echos, each echo is a Scanline.
*/
class Scanline
{
public:
std::vector<LidarPoint> points; // list of all scan points
};
/*
* @brief type Scangroup is a vector of Scanlines. multiScan136 transmits 16 groups (layers), each group has max. 3 echos (3 scanlines).
*/
class Scangroup
{
public:
Scangroup() : timestampStart_sec(0), timestampStart_nsec(0), timestampStop_sec(0), timestampStop_nsec(0), scanlines() {}
uint32_t timestampStart_sec;
uint32_t timestampStart_nsec;
uint32_t timestampStop_sec;
uint32_t timestampStop_nsec;
std::vector<Scanline> scanlines;
};
/*
* @brief scandata contains all data of a msgpack or compact scan.
*/
std::vector<Scangroup> scandata;
/*
* @brief optional imu data
*/
CompactImuData imudata;
/*
* @brief Timestamp of scandata (message received time or measurement time)
*/
std::string timestamp; // timestamp in string format "<seconds>.<mikroseconds>"
uint32_t timestamp_sec; // seconds part of timestamp
uint32_t timestamp_nsec; // nanoseconds part of timestamp
/*
* @brief Counter for each message (each scandata decoded from msgpack or compact data)
*/
int segmentIndex;
int telegramCnt;
};
/*
* @brief return a formatted timestamp "<sec>.<millisec>".
* @param[in] sec second part of timestamp
* @param[in] nsec nanosecond part of timestamp
* @return "<sec>.<millisec>"
*/
std::string Timestamp(uint32_t sec, uint32_t nsec);
/*
* @brief return a timestamp of the current time (i.e. std::chrono::system_clock::now() formatted by "YYYY-MM-DD hh-mm-ss.msec").
*/
std::string Timestamp(const std::chrono::system_clock::time_point& now);
}
#endif // __SICK_SCANSEGMENT_XD_PARSER_OUTPUT_H