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apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/lib/socket_input.h
|
/******************************************************************************
* Copyright 2021 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <unistd.h>
#include <cstdio>
#include <pcap.h>
#include "modules/drivers/lidar/robosense/lib/data_type.h"
#include "modules/drivers/lidar/robosense/lib/input.h"
namespace apollo {
namespace drivers {
namespace robosense {
/** @brief Live suteng input from socket. */
class SocketInput : public Input {
public:
SocketInput();
virtual ~SocketInput();
void init(uint32_t port);
int get_firing_data_packet(apollo::drivers::suteng::SutengPacket* pkt,
int time_zone, uint64_t start_time_);
int get_positioning_data_packtet(const NMEATimePtr& nmea_time);
private:
int sockfd_;
int port_;
bool input_available(int timeout);
};
} // namespace robosense
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/lidar16_left.conf
|
frame_id: "robosense16_left"
model: VLP16
mode: STRONGEST
rpm: 600.0
use_gps_time: false
time_zone: 8
firing_data_port: 2369
positioning_data_port: 8310
calibration_file: "/apollo/modules/drivers/lidar/robosense/params/VLP16_calibration.yaml"
organized: true
max_range: 70.0
min_range: 0.4
target_frame_id: "novatel"
scan_channel:"/apollo/sensor/lidar16/left/Scan"
pc_channel:"/apollo/sensor/lidar16/left/PointCloud2"
fusion_channel:"/sensor/lidar16/fusion/PointCloud2"
compensator_channel:"/sensor/lidar16/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/lidar16_right.conf
|
frame_id: "robosense16_right"
model: VLP16
mode: STRONGEST
rpm: 600.0
use_gps_time: false
time_zone: 8
firing_data_port: 2370
positioning_data_port: 8310
calibration_file: "/apollo/modules/drivers/lidar/robosense/params/VLP16_calibration.yaml"
organized: true
max_range: 70.0
min_range: 0.4
target_frame_id: "novatel"
scan_channel:"/apollo/sensor/lidar16/right/Scan"
pc_channel:"/apollo/sensor/lidar16/right/PointCloud2"
fusion_channel:"/sensor/lidar16/fusion/PointCloud2"
compensator_channel:"/sensor/lidar16/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/back_compensator.pb.txt
|
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar128/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/VLP16_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,
vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,
vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,
vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,
vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,
vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,
vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,
vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,
vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,
vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,
vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,
vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,
vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,
vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,
vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,
vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,
vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}
num_lasers: 16
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/lidar16_back.conf.org
|
frame_id: "robosense16_back"
model: VLP16
mode: STRONGEST
rpm: 600.0
use_gps_time: true
time_zone: 8
firing_data_port: 2371
positioning_data_port: 8311
calibration_file: "/apollo/modules/drivers/lidar/robosense/params/VLP16_calibration.yaml"
organized: true
max_range: 70.0
min_range: 0.9
target_frame_id: "novatel"
main_frame: true
scan_channel:"/apollo/sensor/lidar16/back/Scan"
pc_channel:"/apollo/sensor/lidar16/back/PointCloud2"
fusion_channel:"/sensor/lidar16/fusion/PointCloud2"
compensator_channel:"/sensor/lidar16/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/robo_fusion_conf.pb.txt
|
max_interval_ms: 50
drop_expired_data : true
fusion_channel: "/apollo/sensor/lidar16/fusion/PointCloud2"
input_channel: [
"/apollo/sensor/lidar16/left/PointCloud2",
"/apollo/sensor/lidar16/right/PointCloud2"
]
# wait time after main channel receive msg, unit second
wait_time_s: 0.02
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/lidar_robo_fusion_compensator.pb.txt
|
world_frame_id: "world"
#transform_query_timeout: 0.02
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense
|
apollo_public_repos/apollo/modules/drivers/lidar/robosense/conf/lidar16_back.conf
|
frame_id: "robosense16_back"
model: HELIOS_16P
mode: STRONGEST
rpm: 600.0
use_gps_time: true
time_zone: 8
firing_data_port: 6699
positioning_data_port: 7788
calibration_file: "/apollo/modules/drivers/lidar/robosense/params/VLP16_calibration.yaml"
organized: true
max_range: 70.0
min_range: 0.9
target_frame_id: "novatel"
main_frame: true
scan_channel:"/apollo/sensor/lidar16/back/Scan"
pc_channel:"/apollo/sensor/lidar16/back/PointCloud2"
fusion_channel:"/sensor/lidar16/fusion/PointCloud2"
compensator_channel:"/sensor/lidar16/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/README_cn.md
|
# **Lslidar LiDAR Driver**
## 1、 工程简介
**lslidar** 为镭神在Apollo 8.0平台的雷达驱动集成包。 目前支持*C16，C32，CH16，CH32，CH64，CH64w，CH120，CH128,CH128X1*等型号的雷达。
## 2、 驱动运行示例
#### 2.1 C16
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidar16/PointCloud2
- Scan--/apollo/sensor/lslidar16/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2
#### 2.2 C32
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidar32/PointCloud2
- Scan--/apollo/sensor/lslidar32/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2
#### 2.3 N401(删除)
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidar401/PointCloud2
- Scan--/apollo/sensor/lslidar401/Scan
#### 2.4 CH16
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2
- Scan--/apollo/sensor/lslidarCH16/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
#### 2.5 CH32
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2
- Scan--/apollo/sensor/lslidarCH32/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
#### 2.6 CH64
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2
- Scan--/apollo/sensor/lslidarCH64/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
#### 2.7 CH64w
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2
- Scan--/apollo/sensor/lslidarCH64w/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
#### 2.8 CH120
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2
- Scan--/apollo/sensor/lslidarCH120/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
#### 2.9 CH128
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2
- Scan--/apollo/sensor/lslidarCH128/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
#### 2.10 CH128X1
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
或
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
默认话题名：
- 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2
- Scan--/apollo/sensor/lslidarCH128X1/Scan
- 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
### 常见问题
- 打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。
可用wireshark查看是否有雷达数据；以及雷达ip和端口号参数设置是否正确。
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/README_en.md
|
# **Lslidar LiDAR Driver**
## 1. Overview
**lslidar** is a lidar driver integration package from LenShen Intelligent System Co. Ltd. for the Apollo 8.0 platform. Currently the *C16, C32, CH16, CH32, CH64, CH64w, CH120, CH128,CH128X1* lidar models are supported.
## 2. Example of driver running
#### 2.1 C16
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2
- Scan--/apollo/sensor/lslidar16/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2
#### 2.2 C32
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2
- Scan--/apollo/sensor/lslidar32/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2
#### 2.3 N401(delete)
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2
- Scan--/apollo/sensor/lslidar401/Scan
#### 2.4 CH16
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2
- Scan--/apollo/sensor/lslidarCH16/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
#### 2.5 CH32
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2
- Scan--/apollo/sensor/lslidarCH32/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
#### 2.6 CH64
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2
- Scan--/apollo/sensor/lslidarCH64/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
#### 2.7 CH64w
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2
- Scan--/apollo/sensor/lslidarCH64w/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
#### 2.8 CH120
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2
- Scan--/apollo/sensor/lslidarCH120/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
#### 2.9 CH128
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2
- Scan--/apollo/sensor/lslidarCH128/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
#### 2.10 CH128X1
cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
or
mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
Default topic name:
- Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2
- Scan--/apollo/sensor/lslidarCH128X1/Scan
- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
### Frequently asked questions
- The printout "[lslidar]lslidar poll() timeout, port: 2368" indicates that the computing platform is not connected to the lidar network.
You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/BUILD
|
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
data_dest = "drivers/addition_data/lidar/lslidar",
library_dest = "drivers/lib/lidar/lslidar",
data = [
":runtime_data",
],
targets = [
"//modules/drivers/lidar/lslidar/driver:liblslidar_driver_component.so",
"//modules/drivers/lidar/lslidar/parser:liblslidar_convert_component.so",
],
)
filegroup(
name = "runtime_data",
srcs = glob([
"conf/*.txt",
"conf/*.conf",
"dag/*.dag",
"launch/*.launch",
"params/*.yaml",
]),
)
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/proto/lslidar.proto
|
syntax = "proto2";
package apollo.drivers.lslidar;
// import "modules/common/proto/header.proto";
import "modules/common_msgs/basic_msgs/header.proto";
enum Model {
UNKOWN = 0;
LSLIDAR16P = 1;
LSLIDAR32P = 2;
LSLIDAR401 = 3; //401 废弃不用
LSLIDAR_CH16 = 4;
LSLIDAR_CH32 = 5;
LSLIDAR_CH64 = 6;
LSLIDAR_CH64w = 7;
LSLIDAR_CH120 = 8;
LSLIDAR_CH128 = 9;
LSLIDAR_CH128X1 = 10;
LSLIDAR_C32_V4 = 11;
LSLIDAR_C16_V4 = 12;
LSLIDAR_C8_V4 = 13;
LSLIDAR_C1_V4 = 14;
LSLIDAR_LS128S2 = 15;
}
message LslidarPacket {
optional uint64 stamp = 1;
optional bytes data = 2;
}
message LslidarScan {
optional apollo.common.Header header = 1;
optional Model model = 2;
repeated LslidarPacket firing_pkts = 3;
repeated LslidarPacket difop_pkts = 4;
optional string sn = 5;
optional uint64 basetime = 6 [default = 0];
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/proto/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "config_cc_proto",
deps = [
":config_proto",
],
)
proto_library(
name = "config_proto",
srcs = ["config.proto"],
deps = [
":lslidar_proto",
],
)
py_proto_library(
name = "config_py_pb2",
deps = [
":config_proto",
":lslidar_py_pb2",
],
)
cc_proto_library(
name = "lslidar_cc_proto",
deps = [
":lslidar_proto",
],
)
proto_library(
name = "lslidar_proto",
srcs = ["lslidar.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "lslidar_py_pb2",
deps = [
":lslidar_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/proto/config.proto
|
syntax = "proto2";
package apollo.drivers.lslidar;
import "modules/drivers/lidar/lslidar/proto/lslidar.proto";
message Config {
optional Model model = 1;
optional string device_ip = 2 [default = "192.168.1.200"];
optional uint32 msop_port = 3;
optional uint32 difop_port = 4;
optional uint32 return_mode = 5;
optional uint32 degree_mode = 6;
optional float distance_unit = 7;
optional bool time_synchronization = 8;
optional bool add_multicast = 9;
optional string group_ip = 10 [default = "224.1.1.2"];
optional uint32 rpm = 11;
optional string convert_channel_name = 12;
optional uint32 time_zone = 13;
optional string frame_id = 14;
optional string scan_channel = 15;
optional float min_range = 16;
optional float max_range = 17;
optional bool config_vert = 18;
optional bool print_vert = 19;
optional float scan_start_angle =20;
optional float scan_end_angle = 21;
optional bool calibration = 22;
optional int32 npackets = 23;
optional string calibration_file = 24;
optional uint32 packet_size = 25;
optional uint32 vertical_angle = 26;
optional float bottom_left_x = 27;
optional float bottom_left_y = 28;
optional float top_right_x = 29;
optional float top_right_y = 30;
optional string pcap_path = 31;
}
message CompensatorConfig {
optional string output_channel = 1;
optional float transform_query_timeout = 2 [default = 0.02];
optional string world_frame_id = 3 [default = "world"];
optional string target_frame_id = 4;
optional uint32 point_cloud_size = 5;
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/driver.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/driver/driver.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarDriver::~LslidarDriver() {
if (difop_thread_.joinable()) {
difop_thread_.join();
}
}
void LslidarDriver::Init() {
int packets_rate;
if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR_C16_V4) {
packets_rate = 840;
} else if (config_.model() == LSLIDAR_C8_V4) {
packets_rate = 420;
} else if (config_.model() == LSLIDAR_C1_V4) {
packets_rate = 420;
} else if (config_.model() == LSLIDAR_C32_V4) {
packets_rate = 1693; // 64000/384
} else if (config_.model() == LSLIDAR32P) {
if (1 == config_.degree_mode()) packets_rate = 1693; // 65000/384
if (2 == config_.degree_mode()) packets_rate = 1700; // 64000/384
} else if (config_.model() == LSLIDAR_CH16) {
packets_rate = 3571;
} else if (config_.model() == LSLIDAR_CH32) {
packets_rate = 3512;
} else if (config_.model() == LSLIDAR_CH64) {
packets_rate = 3388;
} else if (config_.model() == LSLIDAR_CH64w) {
packets_rate = 11228;
} else if (config_.model() == LSLIDAR_CH128) {
packets_rate = 3571;
} else if (config_.model() == LSLIDAR_CH128X1) {
packets_rate = 6720;
} else if (config_.model() == LSLIDAR_LS128S2) {
packets_rate = 12440;
} else {
packets_rate = 4561;
}
// default number of packets for each scan is a single revolution
if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P ||
config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||
config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4)
config_.set_npackets(static_cast<int>(
ceil(packets_rate * 60 / config_.rpm()) * config_.return_mode() * 1.1));
else
config_.set_npackets(
static_cast<int>(ceil(packets_rate * 60 / config_.rpm() * 1.1)));
AERROR << "config_.pcap_path(): " << config_.pcap_path();
if (!config_.pcap_path().empty()) {
if (config_.model() == LSLIDAR_C32_V4 ||
config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||
config_.model() == LSLIDAR_C1_V4) {
// open Lslidar input device
input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(),
config_.packet_size(), packets_rate,
config_.pcap_path())); // 数据包
positioning_input_.reset(new InputPCAP(config_.difop_port(),
config_.device_ip(), 1206, 1,
config_.pcap_path())); // 设备包
} else {
// open Lslidar input device
input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(),
config_.packet_size(), packets_rate,
config_.pcap_path())); // 数据包
positioning_input_.reset(new InputPCAP(
config_.difop_port(), config_.device_ip(), config_.packet_size(), 1,
config_.pcap_path())); // 设备包
}
} else {
if (config_.model() == LSLIDAR_C32_V4 ||
config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||
config_.model() == LSLIDAR_C1_V4) {
// open Lslidar input device
input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),
config_.packet_size())); // 数据包
positioning_input_.reset(new InputSocket(
config_.difop_port(), config_.device_ip(), 1206)); // 设备包
} else {
// open Lslidar input device
input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),
config_.packet_size())); // 数据包
positioning_input_.reset(
new InputSocket(config_.difop_port(), config_.device_ip(),
config_.packet_size())); // 设备包
}
}
difop_thread_ = std::thread(&LslidarDriver::difopPoll, this);
}
/** poll the device
*
* @returns true unless end of file reached
*/
bool LslidarDriver::Poll(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan) {
// Allocate a new shared pointer for zero-copy sharing with other nodelets.
int poll_result = PollStandard(scan);
if (poll_result < 0) return false;
if (scan->firing_pkts().empty()) {
AINFO << "Get an empty scan from port: " << config_.msop_port();
return false;
}
// publish message using time of last packet read
ADEBUG << "Publishing a full Lslidar scan.";
LslidarPacket *packet = scan->add_difop_pkts();
std::unique_lock<std::mutex> lock(mutex_);
packet->set_data(bytes, FIRING_DATA_PACKET_SIZE);
scan->mutable_header()->set_timestamp_sec(gps_time);
ADEBUG << "**************************************************************GPS "
"time: "
<< gps_time;
scan->mutable_header()->set_frame_id(config_.frame_id());
scan->set_model(config_.model());
scan->set_basetime(gps_time);
scan->mutable_header()->set_timestamp_sec(gps_time);
return true;
}
int LslidarDriver::PollStandard(
std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan) {
// Since the lslidar delivers data at a very high rate, keep reading and
// publishing scans as fast as possible.
if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P ||
config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||
config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4) {
// Find the 0 degree packet, in order to fix the 0 degree angle position
if (scan_fill) {
LslidarPacket *packet = scan->add_firing_pkts();
int PKT_DATA_LENGTH = 1212;
void *data_ptr = malloc(PKT_DATA_LENGTH);
memcpy(data_ptr,
reinterpret_cast<uint8_t *>(
const_cast<char *>(scan_start.data().c_str())),
PKT_DATA_LENGTH);
packet->set_data(data_ptr, PKT_DATA_LENGTH);
packet->set_stamp((scan_start.stamp()));
AINFO << "scan->firing_pkts_size(): " << scan->firing_pkts_size();
}
scan_fill = false;
int i = 1;
while (scan->firing_pkts_size() < config_.npackets()) {
// config_.npackets()
LslidarPacket *packet = scan->add_firing_pkts();
while (true) {
// keep reading until full packet received
int rc = input_->GetPacket(packet);
if (rc == 0) {
if (!config_.time_synchronization()) {
time_t t = time(NULL);
localtime_r(&t, ¤t_time);
current_time.tm_hour = current_time.tm_hour - 8;
packet_time_ns_ = 0;
gps_time = apollo::cyber::Time().Now().ToNanosecond();
} else {
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
if (config_.packet_size() == 1212) { // 1212字节雷达
if (0xff == data[1200]) { // ptp授时
// std::cout << "ptp";
basetime_ = (data[1201] * pow(2, 32) + data[1202] * pow(2, 24) +
data[1203] * pow(2, 16) + data[1204] * pow(2, 8) +
data[1205] * pow(2, 0));
packet_time_ns_ =
(static_cast<uint16_t>(data[1206]) +
static_cast<uint16_t>(data[1207]) * pow(2, 8) +
static_cast<uint16_t>(data[1208]) * pow(2, 16) +
static_cast<uint16_t>(data[1209]) * pow(2, 24));
} else { // gps授时
current_time.tm_year =
static_cast<uint16_t>(data[1200]) + 2000 - 1900;
current_time.tm_mon = static_cast<uint16_t>(data[1201]) - 1;
current_time.tm_mday = static_cast<uint16_t>(data[1202]);
current_time.tm_hour = static_cast<uint16_t>(data[1203]);
current_time.tm_min = static_cast<uint16_t>(data[1204]);
if (config_.model() == LSLIDAR16P ||
config_.model() == LSLIDAR32P) {
current_time.tm_sec = static_cast<uint16_t>(data[1205]) + 1;
packet_time_ns_ =
(static_cast<uint16_t>(data[1206]) +
static_cast<uint16_t>(data[1207]) * pow(2, 8) +
static_cast<uint16_t>(data[1208]) * pow(2, 16) +
static_cast<uint16_t>(data[1209]) * pow(2, 24)) *
1e3; // ns
} else if (config_.model() == LSLIDAR_C32_V4 ||
config_.model() == LSLIDAR_C16_V4 ||
config_.model() == LSLIDAR_C8_V4 ||
config_.model() == LSLIDAR_C1_V4) {
current_time.tm_sec = static_cast<uint16_t>(data[1205]);
packet_time_ns_ =
(static_cast<uint16_t>(data[1206]) +
static_cast<uint16_t>(data[1207]) * pow(2, 8) +
static_cast<uint16_t>(data[1208]) * pow(2, 16) +
static_cast<uint16_t>(data[1209]) * pow(2, 24));
}
basetime_ = static_cast<uint64_t>(timegm(¤t_time));
}
} else { // 1206字节雷达，V3.0
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
packet_time_ns_ =
(static_cast<uint16_t>(data[1200]) +
static_cast<uint16_t>(data[1201]) * pow(2, 8) +
static_cast<uint16_t>(data[1202]) * pow(2, 16) +
static_cast<uint16_t>(data[1203]) * pow(2, 24)) *
1e3; // ns
basetime_ = static_cast<uint64_t>(timegm(¤t_time));
}
gps_time = basetime_ * 1000000000 + packet_time_ns_;
}
packet->set_stamp(gps_time);
break;
} else if (rc < 0) {
return rc;
}
}
packet->set_stamp(gps_time); // 設置包的時間
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
int azi1 =
256 * static_cast<uint16_t>(data[3]) + static_cast<uint16_t>(data[2]);
int azi2 = 256 * static_cast<uint16_t>(data[1103]) +
static_cast<uint16_t>(data[1102]);
if (((azi1 > 35000 && azi2 < 1000) ||
(azi1 < 500 && i > config_.npackets() / 2))) {
scan_fill = true;
scan_start = *packet;
break;
}
i++;
}
} else if (config_.model() == LSLIDAR_LS128S2) { // LS128S2
// Find the 0 degree packet, in order to fix the 0 degree angle position
scan_fill = false;
int i = 1;
bool is_found_frame_header = false;
while (scan->firing_pkts_size() < config_.npackets() &&
!is_found_frame_header) {
LslidarPacket *packet = scan->add_firing_pkts();
while (true) {
// keep reading until full packet received
int rc = input_->GetPacket(packet);
AINFO << "[debug ] line: " << __LINE__ << " file: " << __FILE__;
if (rc == 0) {
if (!config_.time_synchronization()) {
time_t t = time(NULL);
localtime_r(&t, ¤t_time);
current_time.tm_hour = current_time.tm_hour - 8;
gps_time = apollo::cyber::Time().Now().ToNanosecond();
} else {
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
if (0xff == static_cast<uint16_t>(data[1194])) { // ptp授时
basetime_ = (static_cast<uint16_t>(data[1195]) * 0 +
(static_cast<uint16_t>(data[1196]) << 24) +
(static_cast<uint16_t>(data[1197]) << 16) +
(static_cast<uint16_t>(data[1198]) << 8) +
static_cast<uint16_t>(data[1199]) * pow(2, 0));
packet_time_ns_ = (static_cast<uint16_t>(data[1200]) << 24) +
(static_cast<uint16_t>(data[1201]) << 16) +
(static_cast<uint16_t>(data[1202]) << 8) +
(static_cast<uint16_t>(data[1203]));
gps_time = basetime_ * 1000000000 + packet_time_ns_;
} else { // gps授时
struct tm cur_time {};
memset(&cur_time, 0, sizeof(cur_time));
cur_time.tm_sec = static_cast<uint16_t>(data[1199]);
cur_time.tm_min = static_cast<uint16_t>(data[1198]);
cur_time.tm_hour = static_cast<uint16_t>(data[1197]);
cur_time.tm_mday = static_cast<uint16_t>(data[1196]);
cur_time.tm_mon = static_cast<uint16_t>(data[1195]) - 1;
cur_time.tm_year =
static_cast<uint16_t>(data[1194]) + 2000 - 1900;
basetime_ = static_cast<uint64_t>(timegm(&cur_time));
packet_time_ns_ =
static_cast<uint16_t>(data[1203]) +
(static_cast<uint16_t>(data[1202]) << 8) +
(static_cast<uint16_t>(data[1201]) << 16) +
(static_cast<uint16_t>(data[1200]) << 24); // ns
gps_time = basetime_ * 1000000000 + packet_time_ns_;
}
}
break;
} else if (rc < 0) {
return rc;
}
}
packet->set_stamp(gps_time); // 設置包的時間
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
int return_mode = static_cast<uint16_t>(data[1205]);
if (return_mode == 1) {
for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_SINGLE_ECHO;
point_idx += 8) { // 一圈
if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&
(static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&
(static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&
(static_cast<uint16_t>(data[point_idx + 3]) == 0xcc) &&
(static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {
scan_fill = false;
is_found_frame_header = true;
break;
}
}
} else {
for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_DOUBLE_ECHO;
point_idx += 12) { // 一圈
if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&
(static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&
(static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&
(static_cast<uint16_t>(data[point_idx + 3]) == 0xcc) &&
(static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {
scan_fill = false;
is_found_frame_header = true;
AERROR << "\none circle! scan->firing_pkts_size(): "
<< scan->firing_pkts_size();
break;
}
}
}
i++;
}
} else { // ch系列
// Find the 0 degree packet, in order to fix the 0 degree angle position
scan_fill = false;
int i = 1;
bool is_found_frame_header = false;
while (scan->firing_pkts_size() < config_.npackets() &&
!is_found_frame_header) {
LslidarPacket *packet = scan->add_firing_pkts();
while (true) {
// keep reading until full packet received
int rc = input_->GetPacket(packet);
AINFO << "[debug ] line: " << __LINE__ << " file: " << __FILE__;
if (rc == 0) {
if (config_.model() == LSLIDAR_CH64w ||
config_.model() == LSLIDAR_CH120 ||
config_.model() == LSLIDAR_CH128X1 ||
config_.model() == LSLIDAR_CH32) {
if (!config_.time_synchronization()) {
time_t t = time(NULL);
localtime_r(&t, ¤t_time);
current_time.tm_hour = current_time.tm_hour - 8;
gps_time = apollo::cyber::Time().Now().ToNanosecond();
} else {
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
current_time.tm_hour = static_cast<uint16_t>(data[1197]);
current_time.tm_min = static_cast<uint16_t>(data[1198]);
current_time.tm_sec = static_cast<uint16_t>(data[1199]);
basetime_ = static_cast<uint64_t>(timegm(¤t_time));
if (time_service_mode == "gps") {
packet_time_ns_ =
(static_cast<uint16_t>(data[1203]) +
static_cast<uint16_t>(data[1202]) * pow(2, 8) +
static_cast<uint16_t>(data[1201]) * pow(2, 16) +
static_cast<uint16_t>(data[1200]) * pow(2, 24)) *
1e3; // ns
} else if (time_service_mode == "gptp") {
packet_time_ns_ =
(static_cast<uint16_t>(data[1203]) +
static_cast<uint16_t>(data[1202]) * pow(2, 8) +
static_cast<uint16_t>(data[1201]) * pow(2, 16) +
static_cast<uint16_t>(data[1200]) * pow(2, 24)); // ns
}
gps_time = basetime_ * 1000000000 + packet_time_ns_;
}
}
break;
} else if (rc < 0) {
return rc;
}
}
packet->set_stamp(gps_time); // 設置包的時間
uint8_t *data = reinterpret_cast<uint8_t *>(
const_cast<char *>(packet->data().c_str()));
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET;
point_idx += 7) { // 一圈
if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&
(static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&
(static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&
(static_cast<uint16_t>(data[point_idx + 3]) == 0xcc)) {
scan_fill = false;
is_found_frame_header = true;
AERROR << "\none circle! scan->firing_pkts_size(): "
<< scan->firing_pkts_size();
break;
}
}
i++;
}
}
return 0;
}
void LslidarDriver::difopPoll(void) {
while (!cyber::IsShutdown()) {
std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scans =
std::make_shared<apollo::drivers::lslidar::LslidarScan>();
std::shared_ptr<LslidarPacket> packet = std::make_shared<LslidarPacket>();
while (!cyber::IsShutdown()) {
int rc = positioning_input_->GetPacket(packet.get());
if (rc == 0) {
break; // got a full packet
}
if (rc < 0) {
return;
}
}
uint8_t *data =
reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));
{
std::unique_lock<std::mutex> lock(mutex_);
memcpy(bytes, data, FIRING_DATA_PACKET_SIZE);
}
if (!config_.time_synchronization()) {
time_t t = time(NULL);
localtime_r(&t, ¤t_time);
current_time.tm_hour = current_time.tm_hour - 8;
} else {
if (data[0] == 0xA5 && data[1] == 0xFF && data[2] == 0x00 &&
data[3] == 0x5A) {
if (config_.model() == LSLIDAR_CH16 ||
config_.model() == LSLIDAR_CH32 ||
config_.model() == LSLIDAR_CH128 ||
config_.model() == LSLIDAR_CH64) {
current_time.tm_year = static_cast<uint16_t>(data[36] + 100);
current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);
current_time.tm_mday = static_cast<uint16_t>(data[38]);
current_time.tm_hour = static_cast<uint16_t>(data[39]);
current_time.tm_min = static_cast<uint16_t>(data[40]);
current_time.tm_sec = static_cast<uint16_t>(data[41]);
} else if (config_.model() == LSLIDAR_CH64w) {
current_time.tm_year = static_cast<uint16_t>(data[52] + 100);
current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);
current_time.tm_mday = static_cast<uint16_t>(data[54]);
if (data[44] == 0x00) { // gps授时
time_service_mode = "gps";
} else if (data[44] == 0x01) { // ptp授时
time_service_mode = "gptp";
}
} else if (config_.model() == LSLIDAR_CH120) {
current_time.tm_year = static_cast<uint16_t>(data[36] + 100);
current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);
current_time.tm_mday = static_cast<uint16_t>(data[38]);
} else if (config_.model() == LSLIDAR_CH128X1) {
current_time.tm_year = static_cast<uint16_t>(data[52] + 100);
current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);
current_time.tm_mday = static_cast<uint16_t>(data[54]);
if (data[44] == 0x00) { // gps授时
time_service_mode = "gps";
} else if (data[44] == 0x01) { // ptp授时
time_service_mode = "gptp";
}
} else if (config_.packet_size() == 1206 &&
(config_.model() == LSLIDAR32P ||
config_.model() == LSLIDAR16P)) {
current_time.tm_year = static_cast<uint16_t>(data[52] + 100);
current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);
current_time.tm_mday = static_cast<uint16_t>(data[54]);
current_time.tm_hour = static_cast<uint16_t>(data[55]);
current_time.tm_min = static_cast<uint16_t>(data[56]);
current_time.tm_sec = static_cast<uint16_t>(data[57]);
}
}
}
}
}
LslidarDriver *LslidarDriverFactory::CreateDriver(const Config &config) {
LslidarDriver *driver = nullptr;
driver = new LslidarDriver(config);
return driver;
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/input.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <unistd.h>
#include <cstdio>
#include <string>
#include <pcap.h>
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "cyber/cyber.h"
namespace apollo {
namespace drivers {
namespace lslidar {
static const size_t FIRING_DATA_PACKET_SIZE = 1212;
static uint16_t MSOP_DATA_PORT_NUMBER =
2368; // lslidar default data port on PC
class Input {
public:
Input(uint16_t portport = MSOP_DATA_PORT_NUMBER,
std::string lidar_ip = "192.168.1.200", int packet_size = 1212);
virtual ~Input();
virtual int GetPacket(LslidarPacket *pkt);
protected:
int port_;
int sockfd_;
uint64_t pointcloudTimeStamp;
in_addr devip_;
int packet_size_;
};
/** @brief Live lslidar input from socket. */
class InputSocket : public Input {
public:
InputSocket(uint16_t port = MSOP_DATA_PORT_NUMBER,
std::string lidar_ip = "192.168.1.200", int packet_size = 1212);
virtual ~InputSocket();
virtual int GetPacket(LslidarPacket *pkt);
};
/** @brief lslidar input from PCAP dump file.
*
* Dump files can be grabbed by libpcap
*/
class InputPCAP : public Input {
public:
InputPCAP(uint16_t port = MSOP_DATA_PORT_NUMBER,
std::string lidar_ip = "192.168.1.200", int packet_size = 1212,
double packet_rate = 0.0, std::string filename = "",
bool read_once = false, bool read_fast = false,
double repeat_delay = 0.0);
virtual ~InputPCAP();
virtual int GetPacket(LslidarPacket *pkt);
private:
double packet_rate_;
std::string filename_;
pcap_t *pcap_;
bpf_program pcap_packet_filter_;
char errbuf_[PCAP_ERRBUF_SIZE];
bool empty_;
bool read_once_;
bool read_fast_;
double repeat_delay_;
std::string lidar_ip_;
};
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <memory>
#include <string>
#include <mutex>
#include "modules/drivers/lidar/lslidar/proto/config.pb.h"
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "cyber/cyber.h"
#include "modules/common/util/message_util.h"
#include "modules/drivers/lidar/lslidar/driver/driver.h"
namespace apollo {
namespace drivers {
namespace lslidar {
using apollo::cyber::Component;
using apollo::cyber::Reader;
using apollo::cyber::Writer;
using apollo::drivers::lslidar::LslidarScan;
class LslidarDriverComponent : public Component<> {
public:
~LslidarDriverComponent() {
if (device_thread_->joinable()) {
device_thread_->join();
}
}
bool Init() override;
private:
void device_poll();
volatile bool runing_; ///< device thread is running
uint32_t seq_ = 0;
std::shared_ptr<std::thread> device_thread_;
std::shared_ptr<LslidarDriver> dvr_; ///< driver implementation class
std::shared_ptr<apollo::cyber::Writer<apollo::drivers::lslidar::LslidarScan>>
writer_;
};
CYBER_REGISTER_COMPONENT(LslidarDriverComponent)
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/driver.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <atomic>
#include <cmath>
#include <ctime>
#include <memory>
#include <mutex>
#include <string>
#include "modules/drivers/lidar/lslidar/proto/config.pb.h"
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/lidar/lslidar/driver/input.h"
namespace apollo {
namespace drivers {
namespace lslidar {
constexpr int BLOCKS_PER_PACKET = 12;
constexpr int BLOCK_SIZE = 100;
static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;
static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;
static const int POINTS_PER_PACKET = 171 * 7; // ch系列
static const int LS_POINTS_PER_PACKET_SINGLE_ECHO =
149 * 8; // LS 1550nm系列 单回波
static const int LS_POINTS_PER_PACKET_DOUBLE_ECHO =
99 * 12; // LS 1550nm系列 单回波
class LslidarDriver {
public:
explicit LslidarDriver(const Config &config) : config_(config) {
// scan_start = new LslidarPacket();
}
~LslidarDriver();
bool Poll(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan);
void Init();
void difopPoll();
void SetPacketRate(const double packet_rate) { packet_rate_ = packet_rate; }
int npackets;
struct tm current_time;
protected:
Config config_;
std::unique_ptr<Input> input_ = nullptr;
std::unique_ptr<Input> positioning_input_ = nullptr;
std::string topic_;
double packet_rate_ = 0.0;
bool scan_fill = false;
uint64_t gps_time = 0;
uint64_t last_gps_time = 0;
uint64_t basetime_ = 0;
uint64_t packet_time_ns_ = 0;
uint32_t last_gps_time_ = 0;
uint64_t last_count_ = 0;
static uint64_t sync_counter;
std::thread difop_thread_;
int PollStandard(std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan);
LslidarPacket scan_start;
LslidarPacket last_scan_start;
LslidarPacket scan_start1;
LslidarPacket scan_start2;
std::mutex mutex_;
uint8_t bytes[FIRING_DATA_PACKET_SIZE] = {0x00};
std::string time_service_mode = {"gps"};
};
class LslidarDriverFactory {
public:
static LslidarDriver *CreateDriver(const Config &config);
};
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h"
namespace apollo {
namespace drivers {
namespace lslidar {
static void my_handler(int sig) { exit(-1); }
bool LslidarDriverComponent::Init() {
signal(SIGINT, my_handler);
AINFO << "Lslidar driver component init";
Config lslidar_config;
if (!GetProtoConfig(&lslidar_config)) {
return false;
}
// start the driver
writer_ = node_->CreateWriter<apollo::drivers::lslidar::LslidarScan>(
lslidar_config.scan_channel());
LslidarDriver *driver = LslidarDriverFactory::CreateDriver(lslidar_config);
if (driver == nullptr) {
return false;
}
dvr_.reset(driver);
dvr_->Init();
// spawn device poll thread
runing_ = true;
device_thread_ = std::shared_ptr<std::thread>(
new std::thread(std::bind(&LslidarDriverComponent::device_poll, this)));
device_thread_->detach();
return true;
}
/** @brief Device poll thread main loop. */
void LslidarDriverComponent::device_poll() {
signal(SIGINT, my_handler);
while (!apollo::cyber::IsShutdown()) {
// poll device until end of file
std::shared_ptr<LslidarScan> scan =
std::make_shared<apollo::drivers::lslidar::LslidarScan>();
bool ret = dvr_->Poll(scan);
if (ret) {
common::util::FillHeader("lslidar", scan.get());
AINFO << "publish scan!";
double time1 = apollo::cyber::Time().Now().ToSecond();
writer_->Write(scan);
double time2 = apollo::cyber::Time().Now().ToSecond();
AINFO << "apollo::cyber::Time((time2 - time1)"
<< apollo::cyber::Time((time2 - time1) / 2.0).ToNanosecond();
} else {
AWARN << "device poll failed";
}
}
AERROR << "CompLslidarDriver thread exit";
runing_ = false;
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/input.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/driver/input.h"
#include <arpa/inet.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/file.h>
#include <sys/socket.h>
#include <memory>
#include <cstdint>
#include <cstring>
#include <cerrno>
namespace apollo {
namespace drivers {
namespace lslidar {
Input::Input(uint16_t port, std::string lidar_ip, int packet_size) {
packet_size_ = packet_size;
inet_aton(lidar_ip.c_str(), &devip_);
}
int Input::GetPacket(LslidarPacket *pkt) { return 0; }
Input::~Input(void) { (void)close(sockfd_); }
InputSocket::InputSocket(uint16_t port, std::string lidar_ip, int packet_size)
: Input(port, lidar_ip, packet_size) {
port_ = port;
sockfd_ = -1;
sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);
if (-1 == sockfd_) {
AERROR << "socket open error";
return;
}
inet_aton(lidar_ip.c_str(), &devip_);
sockaddr_in myAddress; // my address information
memset(&myAddress, 0, sizeof(myAddress)); // initialize to zeros
myAddress.sin_family = AF_INET; // host byte order
myAddress.sin_port = htons(port); // port in network byte order
myAddress.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP
if (bind(sockfd_, reinterpret_cast<sockaddr *>(&myAddress),
sizeof(sockaddr)) == -1) {
AERROR << "bind error, port:" << port;
return;
}
if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0) {
AERROR << "fcntl error";
return;
}
}
InputSocket::~InputSocket(void) { (void)close(sockfd_); }
int InputSocket::GetPacket(LslidarPacket *pkt) {
double time1 = apollo::cyber::Time().Now().ToSecond();
struct pollfd fds[1];
fds[0].fd = sockfd_;
fds[0].events = POLLIN;
static const int POLL_TIMEOUT = 3000; // one second (in msec)
sockaddr_in sender_address;
socklen_t sender_address_len = sizeof(sender_address);
while (true) {
// Receive packets that should now be available from the
// socket using a blocking read.
// poll() until input available
do {
int retval = poll(fds, 1, POLL_TIMEOUT);
if (retval < 0) {
if (errno != EINTR) AERROR << "poll() error: " << strerror(errno);
return 1;
}
if (retval == 0) {
AERROR << "lslidar poll() timeout, port: " << port_;
return 1;
}
if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) ||
(fds[0].revents & POLLNVAL)) {
AWARN << "poll() reports lslidar error";
return 1;
}
} while ((fds[0].revents & POLLIN) == 0);
uint8_t bytes[1212];
ssize_t nbytes = recvfrom(sockfd_, bytes, packet_size_, 0,
reinterpret_cast<sockaddr *>(&sender_address),
&sender_address_len);
if (nbytes < 0) {
if (errno != EWOULDBLOCK) {
AERROR << "recvfail";
return 1;
}
} else if ((size_t)nbytes == size_t(packet_size_)) {
if (sender_address.sin_addr.s_addr != devip_.s_addr) {
AERROR << "lidar IP parameter set error,please reset in config file";
continue;
} else {
pkt->set_data(bytes, packet_size_);
break;
}
}
AERROR << "incomplete lslidar packet read: " << nbytes << " bytes";
}
// Average the times at which we begin and end reading. Use that to
// estimate when the scan occurred.
double time2 = apollo::cyber::Time().Now().ToSecond();
AINFO << apollo::cyber::Time((time2 + time1) / 2.0).ToNanosecond();
return 0;
}
InputPCAP::InputPCAP(uint16_t port, std::string lidar_ip, int packet_size,
double packet_rate, std::string filename, bool read_once,
bool read_fast, double repeat_delay)
: Input(port, lidar_ip, packet_size),
packet_rate_(packet_rate),
filename_(filename) {
pcap_ = NULL;
empty_ = true;
packet_rate_ = packet_rate;
lidar_ip_ = lidar_ip;
// get parameters using private node handle
read_once_ = read_once;
read_fast_ = read_fast;
repeat_delay_ = repeat_delay;
if (read_once_) AINFO << "Read input file only once.";
if (read_fast_) AINFO << "Read input file as quickly as possible.";
if (repeat_delay_ > 0.0)
AINFO << "Delay %.3f seconds before repeating input file." << repeat_delay_;
// Open the PCAP dump file
AERROR << "Opening PCAP file " << filename_;
if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL) {
AERROR << "Error opening lslidar socket dump file.";
return;
}
std::stringstream filter;
if (lidar_ip != "") {
filter << "src host " << lidar_ip << " && ";
}
filter << "udp dst port " << port;
pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1,
PCAP_NETMASK_UNKNOWN);
}
/** destructor */
InputPCAP::~InputPCAP(void) { pcap_close(pcap_); }
/** @brief Get one lslidar packet. */
int InputPCAP::GetPacket(LslidarPacket *pkt) {
struct pcap_pkthdr *header;
const u_char *pkt_data;
// while (flag == 1)
while (!apollo::cyber::IsShutdown()) {
int res;
if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) {
// Skip packets not for the correct port and from the
// selected IP address.
if (!lidar_ip_.empty() &&
(0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data)))
continue;
// Keep the reader from blowing through the file.
if (read_fast_ == false)
usleep(static_cast<int>(1000 * 1000 / packet_rate_ / 1.1));
if (1206 == packet_size_) {
uint8_t bytes[1206];
memcpy(bytes, pkt_data + 42, packet_size_);
pkt->set_data(bytes, packet_size_);
} else if (1212 == packet_size_) {
uint8_t bytes[1212];
memcpy(bytes, pkt_data + 42, packet_size_);
pkt->set_data(bytes, packet_size_);
}
empty_ = false;
return 0; // success
}
if (empty_) {
AINFO << "Error " << res
<< " reading lslidar packet: " << pcap_geterr(pcap_);
return -1;
}
if (read_once_) {
AINFO << "end of file reached -- done reading.";
return -1;
}
if (repeat_delay_ > 0.0) {
AINFO << "end of file reached -- delaying" << repeat_delay_ << "seconds.";
usleep(rint(repeat_delay_ * 1000000.0));
}
AINFO << "replaying lslidar dump file";
// I can't figure out how to rewind the file, because it
// starts with some kind of header. So, close the file
// and reopen it with pcap.
pcap_close(pcap_);
pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);
empty_ = true; // maybe the file disappeared?
} // loop back and try again
return 0;
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/driver/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
library_dest = "drivers/lib/lidar/lslidar/driver",
targets = [
":liblslidar_driver_component.so",
],
)
cc_binary(
name = "liblslidar_driver_component.so",
linkshared = True,
linkstatic = True,
deps = [":lslidar_driver_component_lib"],
)
cc_library(
name = "lslidar_driver_component_lib",
srcs = ["lslidar_driver_component.cc"],
hdrs = ["lslidar_driver_component.h"],
copts = ['-DMODULE_NAME=\\"lslidar\\"'],
deps = [
"//cyber",
"//modules/common/util:util_tool",
"//modules/drivers/lidar/lslidar/driver",
],
alwayslink = True,
)
cc_library(
name = "driver",
srcs = [
"driver.cc",
"input.cc",
],
hdrs = [
"driver.h",
"input.h",
],
copts = ['-DMODULE_NAME=\\"lslidar\\"'],
linkopts = [
"-lpcap",
],
deps = [
"//cyber",
"//modules/common/util:util_tool",
"//modules/drivers/lidar/lslidar/proto:config_cc_proto",
],
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
|
<cyber>
<module>
<name>lslidarCH120</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
|
<cyber>
<module>
<name>lslidarCH128X1</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
|
<cyber>
<module>
<name>lslidarCH32</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
|
<cyber>
<module>
<name>lslidarCH16</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
|
<cyber>
<module>
<name>lslidar401</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch
|
<cyber>
<module>
<name>lslidar16_32_64w_ch128X1</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
|
<cyber>
<module>
<name>lslidarCH64w</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch
|
<cyber>
<module>
<name>lslidar16_32_128X1</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch
|
<cyber>
<module>
<name>lslidar1v4</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
|
<cyber>
<module>
<name>lslidarCH128</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
|
<cyber>
<module>
<name>lslidarCH64</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch
|
<cyber>
<module>
<name>lslidar16_32_32w</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch
|
<cyber>
<module>
<name>lslidar16v4</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch
|
<cyber>
<module>
<name>lslidarLS128S2</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch
|
<cyber>
<module>
<name>lslidar32v4</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch
|
<cyber>
<module>
<name>lslidar16_32_64w</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
|
<cyber>
<module>
<name>lslidar16</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch
|
<cyber>
<module>
<name>lslidar8v4</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
|
<cyber>
<module>
<name>lslidar32</name>
<dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag</dag_conf>
<process_name>lslidar</process_name>
</module>
</cyber>
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
readers {
channel: "/apollo/sensor/lslidar16/Scan"
}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch64"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch64"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag
|
#----------------------------------------------------------------------------------------------------
#c16
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar16/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar16_compensator_c16"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar16/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#c32
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar32_compensator_c32"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar32/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#ch128x1
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidarCH64w_compensator_ch128x1"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidarCH64w/PointCloud2"}
# }
# }
#}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH16/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c1_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c1_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar1v4/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch128"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch128"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH128/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH128X1/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag
|
#----------------------------------------------------------------------------------------------------
#c16
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar16/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar16_compensator_c16"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar16/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#c32
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar32_compensator_c32"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar32/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#ch64w
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidarCH64w_compensator_ch64w"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidarCH64w/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#ch128x1
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch128x1"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidarCH64w_compensator_ch128x1"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidarCH64w/PointCloud2"}
# }
# }
#}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag
|
#----------------------------------------------------------------------------------------------------
#c16
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar16/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar16_compensator_c16"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar16/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#c32
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar32_compensator_c32"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar32/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#ch64w
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch64w"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH64w/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidarCH64w_compensator_ch64w"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidarCH64w/PointCloud2"}
# }
# }
#}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ls128s2"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ls128s2"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarLS128S2/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt"
readers {
channel: "/apollo/sensor/lslidar32v4/Scan"
}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt"
readers {
channel: "/apollo/sensor/lslidar16v4/Scan"
}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag
|
#----------------------------------------------------------------------------------------------------
#c16
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c16"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar16/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar16_compensator_c16"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar16/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#c32
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidar32_compensator_c32"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar32/PointCloud2"}
# }
# }
#}
#----------------------------------------------------------------------------------------------------
#c32w
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32v4/Scan"}
}
}
}
#module_config {
# module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so"
# components {
# class_name : "CompensatorComponent"
# config {
# name : "lslidarCH64w_compensator_c32v4"
# config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt"
# readers {channel: "/apollo/sensor/lslidar32v4/PointCloud2"}
# }
# }
#}
#
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_ch32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_ch32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidarCH32/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c8_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c8_v4"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar8v4/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so"
components {
class_name : "LslidarDriverComponent"
config {
name : "lslidar_driver_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so"
components {
class_name : "LslidarConvertComponent"
config {
name : "lslidar_convert_c32"
config_file_path : "/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt"
readers {channel: "/apollo/sensor/lslidar32/Scan"}
}
}
}
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <deque>
#include <memory>
#include <string>
#include "modules/drivers/lidar/lslidar/proto/config.pb.h"
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "cyber/base/concurrent_object_pool.h"
#include "cyber/cyber.h"
#include "modules/drivers/lidar/lslidar/parser/convert.h"
namespace apollo {
namespace drivers {
namespace lslidar {
using apollo::cyber::Component;
using apollo::cyber::Reader;
using apollo::cyber::Writer;
using apollo::cyber::base::CCObjectPool;
using apollo::drivers::PointCloud;
using apollo::drivers::lslidar::LslidarScan;
class LslidarConvertComponent
: public Component<apollo::drivers::lslidar::LslidarScan> {
public:
bool Init() override;
bool Proc(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>&
scan_msg) override;
private:
std::shared_ptr<Writer<apollo::drivers::PointCloud>> writer_;
std::unique_ptr<Convert> conv_ = nullptr;
std::shared_ptr<CCObjectPool<apollo::drivers::PointCloud>> point_cloud_pool_ =
nullptr;
int pool_size_ = 8;
};
CYBER_REGISTER_COMPONENT(LslidarConvertComponent)
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/calibration.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
/**
* \file calibration.cc
* \brief
*
* \author Piyush Khandelwal (piyushk@cs.utexas.edu)
* Copyright (C) 2012, Austin Robot Technology,
* The University of Texas at Austin
*
* License: Modified BSD License
*
* $ Id: 02/14/2012 11:36:36 AM piyushk $
*/
#include "modules/drivers/lidar/lslidar/parser/calibration.h"
#include "yaml-cpp/yaml.h"
namespace YAML {
// The >> operator disappeared in yaml-cpp 0.5, so this function is
// added to provide support for code written under the yaml-cpp 0.3 API.
template <typename T>
void operator>>(const YAML::Node &node, T &i) {
i = node.as<T>();
}
} // namespace YAML
namespace apollo {
namespace drivers {
namespace lslidar {
const char *NUM_LASERS = "num_lasers";
const char *LASERS = "lasers";
const char *LASER_ID = "laser_id";
const char *ROT_CORRECTION = "rot_correction";
const char *VERT_CORRECTION = "vert_correction";
const char *DIST_CORRECTION = "dist_correction";
const char *TWO_PT_CORRECTION_AVAILABLE = "two_pt_correction_available";
const char *DIST_CORRECTION_X = "dist_correction_x";
const char *DIST_CORRECTION_Y = "dist_correction_y";
const char *VERT_OFFSET_CORRECTION = "vert_offset_correction";
const char *HORIZ_OFFSET_CORRECTION = "horiz_offset_correction";
const char *MAX_INTENSITY = "max_intensity";
const char *MIN_INTENSITY = "min_intensity";
const char *FOCAL_DISTANCE = "focal_distance";
const char *FOCAL_SLOPE = "focal_slope";
void operator>>(const YAML::Node &node,
std::pair<int, LaserCorrection> &correction) {
node[LASER_ID] >> correction.first;
node[ROT_CORRECTION] >> correction.second.rot_correction;
node[VERT_CORRECTION] >> correction.second.vert_correction;
node[DIST_CORRECTION] >> correction.second.dist_correction;
node[DIST_CORRECTION_X] >> correction.second.dist_correction_x;
node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y;
node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction;
if (node[HORIZ_OFFSET_CORRECTION]) {
node[HORIZ_OFFSET_CORRECTION] >> correction.second.horiz_offset_correction;
} else {
correction.second.horiz_offset_correction = 0.0;
}
if (node[MAX_INTENSITY]) {
node[MAX_INTENSITY] >> correction.second.max_intensity;
} else {
correction.second.max_intensity = 255;
}
if (node[MIN_INTENSITY]) {
node[MIN_INTENSITY] >> correction.second.min_intensity;
} else {
correction.second.min_intensity = 0;
}
node[FOCAL_DISTANCE] >> correction.second.focal_distance;
node[FOCAL_SLOPE] >> correction.second.focal_slope;
// Calculate cached values
correction.second.cos_rot_correction = cosf(correction.second.rot_correction);
correction.second.sin_rot_correction = sinf(correction.second.rot_correction);
correction.second.cos_vert_correction =
cosf(correction.second.vert_correction);
correction.second.sin_vert_correction =
sinf(correction.second.vert_correction);
correction.second.focal_offset =
256.0f * static_cast<float>(std::pow(
1 - correction.second.focal_distance / 13100.0f, 2));
correction.second.laser_ring = 0; // clear initially (set later)
}
void operator>>(const YAML::Node &node, Calibration &calibration) {
int num_lasers = 0;
node[NUM_LASERS] >> num_lasers;
const YAML::Node &lasers = node[LASERS];
calibration.laser_corrections_.clear();
calibration.num_lasers_ = num_lasers;
for (int i = 0; i < num_lasers; i++) {
std::pair<int, LaserCorrection> correction;
lasers[i] >> correction;
calibration.laser_corrections_.insert(correction);
}
// For each laser ring, find the next-smallest vertical angle.
//
// This implementation is simple, but not efficient. That is OK,
// since it only runs while starting up.
double next_angle = -std::numeric_limits<double>::infinity();
for (int ring = 0; ring < num_lasers; ++ring) {
// find minimum remaining vertical offset correction
double min_seen = std::numeric_limits<double>::infinity();
int next_index = num_lasers;
for (int j = 0; j < num_lasers; ++j) {
double angle = calibration.laser_corrections_[j].vert_correction;
if (next_angle < angle && angle < min_seen) {
min_seen = angle;
next_index = j;
}
}
if (next_index < num_lasers) { // anything found in this ring?
// store this ring number with its corresponding laser number
calibration.laser_corrections_[next_index].laser_ring = ring;
next_angle = min_seen;
}
}
}
YAML::Emitter &operator<<(YAML::Emitter &out,
const std::pair<int, LaserCorrection> &correction) {
out << YAML::BeginMap;
out << YAML::Key << LASER_ID << YAML::Value << correction.first;
out << YAML::Key << ROT_CORRECTION << YAML::Value
<< correction.second.rot_correction;
out << YAML::Key << VERT_CORRECTION << YAML::Value
<< correction.second.vert_correction;
out << YAML::Key << DIST_CORRECTION << YAML::Value
<< correction.second.dist_correction;
out << YAML::Key << DIST_CORRECTION_X << YAML::Value
<< correction.second.dist_correction_x;
out << YAML::Key << DIST_CORRECTION_Y << YAML::Value
<< correction.second.dist_correction_y;
out << YAML::Key << VERT_OFFSET_CORRECTION << YAML::Value
<< correction.second.vert_offset_correction;
out << YAML::Key << HORIZ_OFFSET_CORRECTION << YAML::Value
<< correction.second.horiz_offset_correction;
out << YAML::Key << MAX_INTENSITY << YAML::Value
<< correction.second.max_intensity;
out << YAML::Key << MIN_INTENSITY << YAML::Value
<< correction.second.min_intensity;
out << YAML::Key << FOCAL_DISTANCE << YAML::Value
<< correction.second.focal_distance;
out << YAML::Key << FOCAL_SLOPE << YAML::Value
<< correction.second.focal_slope;
out << YAML::EndMap;
return out;
}
YAML::Emitter &operator<<(YAML::Emitter &out, const Calibration &calibration) {
out << YAML::BeginMap;
out << YAML::Key << NUM_LASERS << YAML::Value
<< calibration.laser_corrections_.size();
out << YAML::Key << LASERS << YAML::Value << YAML::BeginSeq;
for (std::map<int, LaserCorrection>::const_iterator it =
calibration.laser_corrections_.begin();
it != calibration.laser_corrections_.end(); ++it) {
out << *it;
}
out << YAML::EndSeq;
out << YAML::EndMap;
return out;
}
void Calibration::read(const std::string &calibration_file) {
std::ifstream fin(calibration_file.c_str());
if (!fin.is_open()) {
initialized_ = false;
return;
}
initialized_ = true;
try {
YAML::Node doc;
fin.close();
doc = YAML::LoadFile(calibration_file);
doc >> *this;
} catch (YAML::Exception &e) {
std::cerr << "YAML Exception: " << e.what() << std::endl;
initialized_ = false;
}
fin.close();
}
void Calibration::write(const std::string &calibration_file) {
std::ofstream fout(calibration_file.c_str());
YAML::Emitter out;
out << *this;
fout << out.c_str();
fout.close();
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/calibration.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
/**
* \file calibration.h
*
* \author Piyush Khandelwal (piyushk@cs.utexas.edu)
* Copyright (C) 2012, Austin Robot Technology, University of Texas at Austin
*
* License: Modified BSD License
*
* $ Id: 02/14/2012 11:25:34 AM piyushk $
*/
#pragma once
#include <cmath>
#include <fstream>
#include <iostream>
#include <limits>
#include <map>
#include <string>
#include <utility>
namespace apollo {
namespace drivers {
namespace lslidar {
/** \brief correction values for a single laser**/
struct LaserCorrection {
/** parameters in db.xml */
float rot_correction;
float vert_correction;
float dist_correction;
float dist_correction_x;
float dist_correction_y;
float vert_offset_correction;
float horiz_offset_correction;
int max_intensity;
int min_intensity;
float focal_distance;
float focal_slope;
float focal_offset;
/** cached values calculated when the calibration file is read */
float cos_rot_correction; ///< cached cosine of rot_correction
float sin_rot_correction; ///< cached sine of rot_correction
float cos_vert_correction; ///< cached cosine of vert_correction
float sin_vert_correction; ///< cached sine of vert_correction
int laser_ring; ///< ring number for this laser
};
/** \brief Calibration class storing entire configuration for the Lslidar */
class Calibration {
public:
std::map<int, LaserCorrection> laser_corrections_;
int num_lasers_;
bool initialized_;
public:
Calibration() : initialized_(false) {}
explicit Calibration(const std::string& calibration_file) {
read(calibration_file);
}
void read(const std::string& calibration_file);
void write(const std::string& calibration_file);
};
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
static float g_fDistanceAcc = 0.1 * 0.01;
static double cos30 = std::cos(DEG2RAD(30));
static double sin30 = std::sin(DEG2RAD(30));
static double sin60 = std::sin(DEG2RAD(60));
LslidarLS128S2Parser::LslidarLS128S2Parser(const Config &config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
// create the sin and cos table for different azimuth and vertical values
for (int j = 0; j < 36000; ++j) {
double angle = static_cast<double>(j) / 100.0 * M_PI / 180.0;
sin_table[j] = sin(angle);
cos_table[j] = cos(angle);
}
double mirror_angle[4] = {0, -2, -1,
-3}; // 摆镜角度 //根据通道不同偏移角度不同
for (int i = 0; i < 4; ++i) {
cos_mirror_angle[i] = cos(DEG2RAD(mirror_angle[i]));
sin_mirror_angle[i] = sin(DEG2RAD(mirror_angle[i]));
}
cur_pc.reset(new PointCloud());
pre_pc.reset(new PointCloud());
}
void LslidarLS128S2Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan> &scan_msg,
const std::shared_ptr<PointCloud> &out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
frame_count++;
const unsigned char *difop_ptr =
(const unsigned char *)scan_msg->difop_pkts(0).data().c_str();
if (difop_ptr[0] == 0x00 || difop_ptr[0] == 0xa5) {
if (difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 && difop_ptr[3] == 0x5a) {
if (difop_ptr[231] == 64 || difop_ptr[231] == 65) {
is_add_frame_ = true;
}
int majorVersion = difop_ptr[1202];
int minorVersion1 = difop_ptr[1203] / 16;
// v1.1 :0.01 //v1.2以后 ： 0.0025
if (1 > majorVersion || (1 == majorVersion && minorVersion1 > 1)) {
g_fAngleAcc_V = 0.0025;
} else {
g_fAngleAcc_V = 0.01;
}
float fInitAngle_V = difop_ptr[188] * 256 + difop_ptr[189];
if (fInitAngle_V > 32767) {
fInitAngle_V = fInitAngle_V - 65536;
}
this->prism_angle[0] = fInitAngle_V * g_fAngleAcc_V;
fInitAngle_V = difop_ptr[190] * 256 + difop_ptr[191];
if (fInitAngle_V > 32767) {
fInitAngle_V = fInitAngle_V - 65536;
}
this->prism_angle[1] = fInitAngle_V * g_fAngleAcc_V;
fInitAngle_V = difop_ptr[192] * 256 + difop_ptr[193];
if (fInitAngle_V > 32767) {
fInitAngle_V = fInitAngle_V - 65536;
}
this->prism_angle[2] = fInitAngle_V * g_fAngleAcc_V;
fInitAngle_V = difop_ptr[194] * 256 + difop_ptr[195];
if (fInitAngle_V > 32767) {
fInitAngle_V = fInitAngle_V - 65536;
}
this->prism_angle[3] = fInitAngle_V * g_fAngleAcc_V;
}
}
packets_size = scan_msg->firing_pkts_size();
packet_number_ = packets_size;
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
}
if (is_add_frame_) {
if (frame_count >= 2) {
// out_msg = std::move(cur_pc);
for (int j = 0; j < cur_pc->point_size(); ++j) {
PointXYZIT *point3 = out_msg->add_point();
point3->set_timestamp(cur_pc->point(j).timestamp());
point3->set_intensity(cur_pc->point(j).intensity());
point3->set_x(cur_pc->point(j).x());
point3->set_y(cur_pc->point(j).y());
point3->set_z(cur_pc->point(j).z());
}
}
cur_pc = pre_pc;
pre_pc.reset(new PointCloud());
} else {
// out_msg = cur_pc;
for (int j = 0; j < cur_pc->point_size(); ++j) {
PointXYZIT *point3 = out_msg->add_point();
point3->set_timestamp(cur_pc->point(j).timestamp());
point3->set_intensity(cur_pc->point(j).intensity());
point3->set_x(cur_pc->point(j).x());
point3->set_y(cur_pc->point(j).y());
point3->set_z(cur_pc->point(j).z());
}
cur_pc.reset(new PointCloud());
pre_pc.reset(new PointCloud());
}
AINFO << "line: " << __LINE__ << "out_msg size: " << out_msg->point_size();
AINFO << "packets_size :" << packets_size;
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
out_msg->set_height(1);
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarLS128S2Parser::Unpack(int num, const LslidarPacket &pkt,
std::shared_ptr<PointCloud> out_msg) {
struct Firing_LS128S2 lidardata {};
uint64_t packet_end_time;
const unsigned char *msop_ptr = (const unsigned char *)pkt.data().c_str();
packet_end_time = pkt.stamp();
current_packet_time = packet_end_time;
if (msop_ptr[1205] == 0x02) {
return_mode = 2;
}
if (return_mode == 1) {
double packet_interval_time = (current_packet_time - last_packet_time) /
(POINTS_PER_PACKET_SINGLE_ECHO / 8.0);
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_SINGLE_ECHO;
point_idx += 8) {
if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&
(msop_ptr[point_idx + 2] == 0xbb) &&
(msop_ptr[point_idx + 3] == 0xcc) &&
(msop_ptr[point_idx + 4] == 0xdd)) {
continue;
} else {
// Compute the time of the point
double point_time;
if (last_packet_time > 1e-6) {
point_time =
packet_end_time -
packet_interval_time *
((POINTS_PER_PACKET_SINGLE_ECHO - point_idx) / 8 - 1);
} else {
point_time = current_packet_time;
}
memset(&lidardata, 0, sizeof(lidardata));
// 水平角度
double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);
if (fAngle_H > 32767) {
fAngle_H = (fAngle_H - 65536);
}
lidardata.azimuth = fAngle_H * 0.01;
// 垂直角度+通道号
int iTempAngle = msop_ptr[point_idx + 2];
int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号
int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位
double fAngle_V = 0.0;
if (1 == iSymmbol) { // 符号位 0：正数 1：负数
int iAngle_V =
msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);
fAngle_V = iAngle_V | 0xc000;
if (fAngle_V > 32767) {
fAngle_V = (fAngle_V - 65536);
}
} else {
int iAngle_Hight = iTempAngle & 0x3f;
fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);
}
lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;
lidardata.channel_number = iChannelNumber;
lidardata.distance =
((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +
msop_ptr[point_idx + 6]);
lidardata.intensity = msop_ptr[point_idx + 7];
lidardata.time = point_time;
lidardata.azimuth = fAngle_H * 0.01;
convertCoordinate(lidardata);
}
}
} else {
double packet_interval_time = (current_packet_time - last_packet_time) /
(POINTS_PER_PACKET_DOUBLE_ECHO / 12.0);
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_DOUBLE_ECHO;
point_idx += 12) {
if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&
(msop_ptr[point_idx + 2] == 0xbb) &&
(msop_ptr[point_idx + 3] == 0xcc) &&
(msop_ptr[point_idx + 4] == 0xdd)) {
continue;
} else {
// Compute the time of the point
double point_time;
if (last_packet_time > 1e-6) {
point_time =
packet_end_time -
packet_interval_time *
((POINTS_PER_PACKET_DOUBLE_ECHO - point_idx) / 12 - 1);
} else {
point_time = current_packet_time;
}
memset(&lidardata, 0, sizeof(lidardata));
// 水平角度
double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);
if (fAngle_H > 32767) {
fAngle_H = (fAngle_H - 65536);
}
lidardata.azimuth = fAngle_H * 0.01;
// 垂直角度+通道号
int iTempAngle = msop_ptr[point_idx + 2];
int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号
int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位
double fAngle_V = 0.0;
if (1 == iSymmbol) { // 符号位 0：正数 1：负数
int iAngle_V =
msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);
fAngle_V = iAngle_V | 0xc000;
if (fAngle_V > 32767) {
fAngle_V = (fAngle_V - 65536);
}
} else {
int iAngle_Hight = iTempAngle & 0x3f;
fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);
}
lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;
lidardata.channel_number = iChannelNumber;
lidardata.distance =
((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +
msop_ptr[point_idx + 6]);
lidardata.intensity = msop_ptr[point_idx + 7];
lidardata.time = point_time;
convertCoordinate(lidardata); // 第一个点
lidardata.distance =
((msop_ptr[point_idx + 8] << 16) + (msop_ptr[point_idx + 9] << 8) +
msop_ptr[point_idx + 10]);
lidardata.intensity = msop_ptr[point_idx + 11];
lidardata.time = point_time;
convertCoordinate(lidardata); // 第二个点
}
}
last_packet_time = packet_end_time;
}
}
int LslidarLS128S2Parser::convertCoordinate(
const struct Firing_LS128S2 &lidardata) {
if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||
lidardata.distance * g_fDistanceAcc < config_.min_range()) {
return -1;
}
if ((lidardata.azimuth < config_.scan_start_angle()) ||
(lidardata.azimuth > config_.scan_end_angle())) {
return -1;
}
double fAngle_H = 0.0; // 水平角度
double fAngle_V = 0.0; // 垂直角度
fAngle_H = lidardata.azimuth;
fAngle_V = lidardata.vertical_angle;
// 加畸变
double fSinV_angle = 0;
double fCosV_angle = 0;
// 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值
double fGalvanometrtAngle = 0;
fGalvanometrtAngle = fAngle_V + 7.26;
while (fGalvanometrtAngle < 0.0) {
fGalvanometrtAngle += 360.0;
}
while (fAngle_H < 0.0) {
fAngle_H += 360.0;
}
int table_index_V = static_cast<int>(fGalvanometrtAngle * 100) % 36000;
int table_index_H = static_cast<int>(fAngle_H * 100) % 36000;
double fAngle_R0 =
cos30 * cos_mirror_angle[lidardata.channel_number % 4] *
cos_table[table_index_V] -
sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];
fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +
sin_mirror_angle[lidardata.channel_number % 4];
fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));
double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -
cos_mirror_angle[lidardata.channel_number % 4] * sin60) /
fCosV_angle;
double fCosCite = sqrt(1 - pow(fSinCite, 2));
double fSinCite_H =
sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;
double fCosCite_H =
cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;
double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;
x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;
y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;
z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;
if ((y_coord >= config_.bottom_left_x() &&
y_coord <= config_.top_right_x()) &&
(-x_coord >= config_.bottom_left_y() &&
-x_coord <= config_.top_right_y()))
return -1;
PointXYZIT *point1 = cur_pc->add_point();
point1->set_timestamp(lidardata.time);
point1->set_intensity(lidardata.intensity);
point1->set_x(y_coord);
point1->set_y(-x_coord);
point1->set_z(z_coord);
PointXYZIT *point2 = pre_pc->add_point();
point2->set_timestamp(lidardata.time);
point2->set_intensity(lidardata.intensity);
point2->set_x(y_coord);
point2->set_y(-x_coord);
point2->set_z(z_coord);
return 0;
}
int LslidarLS128S2Parser::convertCoordinate(
const struct Firing_LS128S2 &lidardata,
std::shared_ptr<PointCloud> out_cloud) {
if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||
lidardata.distance * g_fDistanceAcc < config_.min_range()) {
return -1;
}
if ((lidardata.azimuth < config_.scan_start_angle()) ||
(lidardata.azimuth > config_.scan_end_angle())) {
return -1;
}
double fAngle_H = 0.0; // 水平角度
double fAngle_V = 0.0; // 垂直角度
fAngle_H = lidardata.azimuth;
fAngle_V = lidardata.vertical_angle;
// 加畸变
double fSinV_angle = 0;
double fCosV_angle = 0;
// 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值
double fGalvanometrtAngle = 0;
fGalvanometrtAngle = fAngle_V + 7.26;
while (fGalvanometrtAngle < 0.0) {
fGalvanometrtAngle += 360.0;
}
while (fAngle_H < 0.0) {
fAngle_H += 360.0;
}
int table_index_V = static_cast<int>(fGalvanometrtAngle * 100) % 36000;
int table_index_H = static_cast<int>(fAngle_H * 100) % 36000;
double fAngle_R0 =
cos30 * cos_mirror_angle[lidardata.channel_number % 4] *
cos_table[table_index_V] -
sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];
fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +
sin_mirror_angle[lidardata.channel_number % 4];
fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));
double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -
cos_mirror_angle[lidardata.channel_number % 4] * sin60) /
fCosV_angle;
double fCosCite = sqrt(1 - pow(fSinCite, 2));
double fSinCite_H =
sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;
double fCosCite_H =
cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;
double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;
x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;
y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;
z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;
if ((y_coord >= config_.bottom_left_x() &&
y_coord <= config_.top_right_x()) &&
(-x_coord >= config_.bottom_left_y() &&
-x_coord <= config_.top_right_y()))
return -1;
PointXYZIT *point1 = cur_pc->add_point();
point1->set_timestamp(lidardata.time);
point1->set_intensity(lidardata.intensity);
point1->set_x(y_coord);
point1->set_y(-x_coord);
point1->set_z(z_coord);
PointXYZIT *point2 = pre_pc->add_point();
point2->set_timestamp(lidardata.time);
point2->set_intensity(lidardata.intensity);
point2->set_x(y_coord);
point2->set_y(-x_coord);
point2->set_z(z_coord);
PointXYZIT *point3 = out_cloud->add_point();
point3->set_timestamp(lidardata.time);
point3->set_intensity(lidardata.intensity);
point3->set_x(y_coord);
point3->set_y(-x_coord);
point3->set_z(z_coord);
return 0;
}
void LslidarLS128S2Parser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH120Parser::LslidarCH120Parser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
last_packet_time = 0;
}
void LslidarCH120Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH120Parser::Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
const RawPacket* raw = (const RawPacket*)pkt.data().c_str();
time_last = 0;
packet_end_time = pkt.stamp();
for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++) {
firings[point_idx1].vertical_line = raw->points[point_idx1].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;
firings[point_idx1].azimuth =
static_cast<double>(point_amuzith.uint * 0.01 * DEG_TO_RAD);
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx1].distance_3;
point_distance.bytes[1] = raw->points[point_idx1].distance_2;
point_distance.bytes[2] = raw->points[point_idx1].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx1].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx1].intensity = raw->points[point_idx1].intensity;
}
for (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection& corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
z_sin_altitude =
sin((-13 + 0.167 * firings[point_idx].vertical_line) * DEG_TO_RAD);
z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
// Compute the time of the point
uint64_t point_time =
packet_end_time - 1282 * (POINTS_PER_PACKET - point_idx - 1);
if (time_last < point_time && time_last > 0) {
point_time = time_last + 1282;
}
time_last = point_time;
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH120,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
void LslidarCH120Parser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarParser::LslidarParser(const Config &config)
: last_time_stamp_(0), config_(config) {
for (int i = 0; i < 4; ++i) {
prism_angle64[i] = i * 0.35;
}
for (int j = 0; j < 128; ++j) {
// 右边
if (j / 4 % 2 == 0) {
theat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);
theat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);
} else { // 左边
theat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);
theat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);
}
}
}
bool LslidarParser::is_scan_valid(int rotation, float range) {
// check range first
if (range < config_.min_range() || range > config_.max_range())
return false;
else
return true;
}
/** Set up for on-line operation. */
void LslidarParser::setup() {
if (config_.calibration()) {
calibration_.read(config_.calibration_file());
if (!calibration_.initialized_) {
AFATAL << "Unable to open calibration file: "
<< config_.calibration_file();
}
}
for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {
float rotation_f =
ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;
cos_azimuth_table[rot_index] = cosf(rotation_f);
sin_azimuth_table[rot_index] = sinf(rotation_f);
}
}
void LslidarParser::ComputeCoords(const float &raw_distance,
LaserCorrection *corrections,
const uint16_t rotation, PointXYZIT *point) {
double x = 0.0;
double y = 0.0;
double z = 0.0;
double distance_corr_x = 0;
double distance_corr_y = 0;
corrections->cos_rot_correction = cosf(corrections->rot_correction);
corrections->sin_rot_correction = sinf(corrections->rot_correction);
corrections->cos_vert_correction = cosf(corrections->vert_correction);
corrections->sin_vert_correction = sinf(corrections->vert_correction);
double distance = raw_distance + corrections->dist_correction;
double cos_rot_angle =
cos_azimuth_table[rotation] * corrections->cos_rot_correction +
sin_azimuth_table[rotation] * corrections->sin_rot_correction;
double sin_rot_angle =
sin_azimuth_table[rotation] * corrections->cos_rot_correction -
cos_azimuth_table[rotation] * corrections->sin_rot_correction;
// Compute the distance in the xy plane (w/o accounting for rotation)
double xy_distance = distance * corrections->cos_vert_correction;
// Get 2points calibration values,Linear interpolation to get distance
// correction for X and Y, that means distance correction use
// different value at different distance
distance_corr_x = distance_corr_y = corrections->dist_correction;
double distance_x = raw_distance + distance_corr_x;
xy_distance = distance_x * corrections->cos_vert_correction;
x = xy_distance * sin_rot_angle -
corrections->horiz_offset_correction * cos_rot_angle;
double distance_y = raw_distance + distance_corr_y;
xy_distance = distance_y * corrections->cos_vert_correction;
y = xy_distance * cos_rot_angle +
corrections->horiz_offset_correction * sin_rot_angle;
z = distance * corrections->sin_vert_correction +
corrections->vert_offset_correction;
/** Use standard ROS coordinate system (right-hand rule) */
point->set_x(static_cast<float>(-y));
point->set_y(static_cast<float>(-x));
point->set_z(static_cast<float>(z));
}
void LslidarParser::ComputeCoords2(int Laser_ring, int Type,
const float &raw_distance,
LaserCorrection* corrections,
const double rotation, PointXYZIT *point) {
double x = 0.0;
double y = 0.0;
double z = 0.0;
double distance_corr_x = 0;
double distance_corr_y = 0;
double sinTheta_1[128] = {0};
double cosTheta_1[128] = {0};
double sinTheta_2[128] = {0};
double cosTheta_2[128] = {0};
double cos_xita;
// 垂直角度
double sin_theat;
double cos_theat;
double _R_;
// 水平角度
double cos_H_xita;
double sin_H_xita;
double cos_xita_F;
for (int i = 0; i < 128; i++) {
sinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);
cosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);
if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&
abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {
sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);
cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);
} else {
sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);
cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);
}
}
corrections->cos_rot_correction = cosf(corrections->rot_correction);
corrections->sin_rot_correction = sinf(corrections->rot_correction);
double cos_azimuth_half = cos(rotation * 0.5);
if (Type == CH16) {
if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&
abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {
corrections->sin_vert_correction =
sin_scan_laser_altitude[Laser_ring / 4 + 2] +
2 * cos_azimuth_half * sin_scan_mirror_altitude[Laser_ring % 4];
} else {
corrections->sin_vert_correction =
sin_scan_laser_altitude[Laser_ring / 4 + 2] +
2 * cos_azimuth_half * sin(prism_angle[Laser_ring % 4] * M_PI / 180);
}
} else if (Type == CH32) {
corrections->sin_vert_correction =
sin_scan_laser_altitude[Laser_ring / 4] +
2 * cos_azimuth_half * sin_scan_mirror_altitude[Laser_ring % 4];
} else if (Type == CH64) {
if (Laser_ring % 8 == 0 || Laser_ring % 8 == 1 || Laser_ring % 8 == 2 ||
Laser_ring % 8 == 3) {
corrections->sin_vert_correction =
sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33 * DEG_TO_RAD) +
2 * cos(rotation / 2 + 1.05 * DEG_TO_RAD) *
sin((Laser_ring % 4) * 0.33 * DEG_TO_RAD);
} else if (Laser_ring % 8 == 4 || Laser_ring % 8 == 5 ||
Laser_ring % 8 == 6 || Laser_ring % 8 == 7) {
corrections->sin_vert_correction =
sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33 * DEG_TO_RAD) +
2 * cos(rotation / 2 - 1.05 * DEG_TO_RAD) *
sin((Laser_ring % 4) * 0.33 * DEG_TO_RAD);
}
} else if (Type == CH64w) {
if (Laser_ring / 4 % 2 == 0) {
cos_xita = cos((rotation / 2.0 + 22.5) * M_PI / 180);
} else {
cos_xita = cos((-rotation / 2.0 + 112.5) * M_PI / 180);
}
_R_ = theat2_c[Laser_ring] * theat1_c[Laser_ring] * cos_xita -
theat2_s[Laser_ring] * theat1_s[Laser_ring];
sin_theat = theat1_s[Laser_ring] + 2 * _R_ * theat2_s[Laser_ring];
cos_theat = sqrt(1 - pow(sin_theat, 2));
cos_H_xita =
(2 * _R_ * theat2_c[Laser_ring] * cos_xita - theat1_c[Laser_ring]) /
cos_theat;
sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));
if (Laser_ring / 4 % 2 == 0) {
cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);
corrections->sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));
} else {
cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));
corrections->sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));
}
} else if (Type == CH120) {
corrections->sin_vert_correction = sinf(corrections->vert_correction);
} else if (Type == CH128) {
if (Laser_ring / 4 % 2 == 0) {
cos_azimuth_half = sin((rotation - 15 * DEG_TO_RAD) * 0.5);
} else {
cos_azimuth_half = cos((rotation + 15 * DEG_TO_RAD) * 0.5);
}
corrections->sin_vert_correction =
sin_scan_laser_altitude_ch128[Laser_ring / 4] +
2 * cos_azimuth_half * sinTheta_2[Laser_ring];
} else if (Type == CH128X1) {
double _R_ =
cosTheta_2[Laser_ring] * cosTheta_1[Laser_ring] * cos_azimuth_half -
sinTheta_2[Laser_ring] * sinTheta_1[Laser_ring];
corrections->sin_vert_correction =
sinTheta_1[Laser_ring] + 2 * _R_ * sinTheta_2[Laser_ring];
}
corrections->cos_vert_correction =
sqrt(1 - pow(corrections->sin_vert_correction, 2));
double distance = raw_distance + corrections->dist_correction;
double cos_rot_angle = cos(rotation) * corrections->cos_rot_correction +
sin(rotation) * corrections->sin_rot_correction;
double sin_rot_angle = sin(rotation) * corrections->cos_rot_correction -
cos(rotation) * corrections->sin_rot_correction;
// Compute the distance in the xy plane (w/o accounting for rotation)
double xy_distance = distance * corrections->cos_vert_correction;
// Get 2points calibration values,Linear interpolation to get distance
// correction for X and Y, that means distance correction use
// different value at different distance
distance_corr_x = distance_corr_y = corrections->dist_correction;
double distance_x = raw_distance + distance_corr_x;
xy_distance = distance_x * corrections->cos_vert_correction;
x = xy_distance * sin_rot_angle -
corrections->horiz_offset_correction * cos_rot_angle;
double distance_y = raw_distance + distance_corr_y;
xy_distance = distance_y * corrections->cos_vert_correction;
y = xy_distance * cos_rot_angle +
corrections->horiz_offset_correction * sin_rot_angle;
z = distance * corrections->sin_vert_correction +
corrections->vert_offset_correction;
/** Use standard ROS coordinate system (right-hand rule) */
point->set_x(static_cast<float>(-y));
point->set_y(static_cast<float>(-x));
point->set_z(static_cast<float>(z));
}
LslidarParser *LslidarParserFactory::CreateParser(Config source_config) {
Config config = source_config;
if (config.model() == LSLIDAR16P) {
return new Lslidar16Parser(config);
} else if (config.model() == LSLIDAR32P) {
return new Lslidar32Parser(config);
} else if (config.model() == LSLIDAR_C32_V4 ||
config.model() == LSLIDAR_C16_V4 ||
config.model() == LSLIDAR_C8_V4 ||
config.model() == LSLIDAR_C1_V4) {
return new LslidarCXV4Parser(config);
} else if (config.model() == LSLIDAR_CH16) {
return new LslidarCH16Parser(config);
} else if (config.model() == LSLIDAR_CH32) {
return new LslidarCH32Parser(config);
} else if (config.model() == LSLIDAR_CH64) {
return new LslidarCH64Parser(config);
} else if (config.model() == LSLIDAR_CH64w) {
return new LslidarCH64wParser(config);
} else if (config.model() == LSLIDAR_CH120) {
return new LslidarCH120Parser(config);
} else if (config.model() == LSLIDAR_CH128) {
return new LslidarCH128Parser(config);
} else if (config.model() == LSLIDAR_CH128X1) {
return new LslidarCH128X1Parser(config);
} else if (config.model() == LSLIDAR_LS128S2) {
return new LslidarLS128S2Parser(config);
} else {
AERROR << "invalid model";
return nullptr;
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH16Parser::LslidarCH16Parser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}
void LslidarCH16Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
const unsigned char* difop_ptr =
(const unsigned char*)scan_msg->difop_pkts(0).data().c_str();
two_bytes angle_1, angle_2, angle_3, angle_4;
angle_1.bytes[0] = difop_ptr[663];
angle_1.bytes[1] = difop_ptr[662];
prism_angle[0] = angle_1.uint * 0.01;
angle_2.bytes[0] = difop_ptr[665];
angle_2.bytes[1] = difop_ptr[664];
prism_angle[1] = angle_2.uint * 0.01;
angle_3.bytes[0] = difop_ptr[667];
angle_3.bytes[1] = difop_ptr[666];
prism_angle[2] = angle_3.uint * 0.01;
angle_4.bytes[0] = difop_ptr[669];
angle_4.bytes[1] = difop_ptr[668];
prism_angle[3] = angle_4.uint * 0.01;
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH16Parser::Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
time_last = 0;
const RawPacket* raw = (const RawPacket*)pkt.data().c_str();
packet_end_time = pkt.stamp();
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;
firings[point_idx].azimuth =
static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx].distance_3;
point_distance.bytes[1] = raw->points[point_idx].distance_2;
point_distance.bytes[2] = raw->points[point_idx].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx].distance =
static_cast<double>(point_distance.uint) / 256.0 * DISTANCE_RESOLUTION;
firings[point_idx].intensity = raw->points[point_idx].intensity;
}
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection& corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
// Convert the point to xyz coordinate
double cos_azimuth_half = cos(firings[point_idx].azimuth * 0.5);
if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&
abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {
z_sin_altitude =
sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +
2 * cos_azimuth_half *
sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];
} else {
z_sin_altitude =
sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +
2 * cos_azimuth_half *
sin(prism_angle[firings[point_idx].vertical_line % 4] * M_PI /
180);
}
z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
// Compute the time of the point
uint64_t point_time =
packet_end_time - 1665 * (POINTS_PER_PACKET - point_idx - 1);
if (time_last < point_time && time_last > 0) {
point_time = time_last + 1665;
}
time_last = point_time;
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time / 1000000000.0);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH16,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
void LslidarCH16Parser::Order(std::shared_ptr<PointCloud> cloud) {
int width = 16;
cloud->set_width(width);
int height = cloud->point_size() / cloud->width();
cloud->set_height(height);
std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
cloud_origin->CopyFrom(*cloud);
for (int i = 0; i < width; ++i) {
int col = lslidar::ORDER_32[i];
for (int j = 0; j < height; ++j) {
// make sure offset is initialized, should be init at setup() just once
int target_index = j * width + i;
int origin_index = j * width + col;
cloud->mutable_point(target_index)
->CopyFrom(cloud_origin->point(origin_index));
}
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar_parser.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
/* -*- mode: C++ -*-
*
* Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
* Copyright (C) 2009 Austin Robot Technology, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
* \ingroup lslidar
*
* These classes Unpack raw Lslidar LIDAR packets into several
* useful formats.
*
* lslidar::Data -- virtual base class for unpacking data into
* various formats
*
* lslidar::DataScans -- derived class, unpacks into vector of
* individual laser scans
*
* lslidar::DataXYZ -- derived class, unpacks into XYZ format
*
* \todo make a separate header for each class?
*
* \author Yaxin Liu
* \author Patrick Beeson
* \author Jack O'Quin
*/
#pragma once
#include <cerrno>
#include <cmath>
#include <cstdint>
#include <limits>
#include <memory>
#include <string>
#include <thread>
#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "modules/drivers/lidar/lslidar/proto/config.pb.h"
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/lidar/lslidar/parser/calibration.h"
#define DEG_TO_RAD 0.017453292
#define RAD_TO_DEG 57.29577951
#define CH16 1
#define CH32 2
#define CH64 3
#define CH64w 4
#define CH120 5
#define CH128 6
#define CH128X1 7
namespace apollo {
namespace drivers {
namespace lslidar {
using apollo::drivers::PointCloud;
using apollo::drivers::PointXYZIT;
using apollo::drivers::lslidar::LSLIDAR16P;
using apollo::drivers::lslidar::LslidarPacket;
using apollo::drivers::lslidar::LslidarScan;
/**
* Raw Lslidar packet constants and structures.
*/
#define DEG2RAD(x) ((x)*0.017453293)
static const int SIZE_BLOCK = 100;
static const int RAW_SCAN_SIZE = 3;
static const int SCANS_PER_BLOCK = 32;
static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);
static const float ROTATION_RESOLUTION = 0.01f; /**< degrees */
static const uint16_t ROTATION_MAX_UNITS = 36000;
static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;
static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;
/** According to Bruce Hall DISTANCE_MAX is 65.0, but we noticed
* valid packets with readings up to 200.0. */
static const float DISTANCE_MAX = 200.0f; /**< meters */
static const float DISTANCE_MIN = 0.2f;
static const float DISTANCE_RESOLUTION = 0.01f; /**< meters */
static const double DISTANCE_RESOLUTION2 = 0.0000390625;
static const float DISTANCE_RESOLUTION_NEW = 0.005f;
static const float DISTANCE_MAX_UNITS =
(DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f);
// laser_block_id
static const uint16_t UPPER_BANK = 0xeeff;
static const uint16_t LOWER_BANK = 0xddff;
/** Special Defines for VLP16 support **/
static const int LSC16_FIRINGS_PER_BLOCK = 2;
static const int LSC16_SCANS_PER_FIRING = 16;
static const float LSC16_BLOCK_TDURATION = 100.0f; // [µs]
static const float LSC16_DSR_TOFFSET = 3.125f; // [µs]
static const float LSC16_FIRING_TOFFSET = 50.0f; // [µs]
static const int LSC32_FIRINGS_PER_BLOCK = 1;
static const int LSC32_SCANS_PER_FIRING = 32;
static const float LSC32_FIRING_TOFFSET = 100.0f; // [µs]
static const float LSC32_AZIMUTH_TOFFSET = 12.98f; /**< meters */
static const float LSC32_DISTANCE_TOFFSET = 4.94f; /**< meters */
static const int SCANS_PER_FIRING_C32 = 32;
static const int FIRING_TOFFSET_C32 = 32;
static const double R32_1_ = 0.0361;
static const double CX4_R1_ = 0.0361; //
static const double CX4_C32W = 0.03416; // 新C32W byte[1211] = 0x47
static const double CX4_R1_90 = 0.0209; // 90度
static const double CX4_conversionAngle_ = 20.25;
static const double CX4_conversionAngle_90 = 27.76; // 90度
/** \brief Raw Lslidar data block.
*
* Each block contains data from either the upper or lower laser
* bank. The device returns three times as many upper bank blocks.
*
* use cstdint types, so things work with both 64 and 32-bit machines
*/
typedef struct raw_block {
uint16_t header; ///< UPPER_BANK or LOWER_BANK
uint8_t rotation_1;
uint8_t rotation_2; /// combine rotation1 and rotation2 together to get
/// 0-35999, divide by 100 to get degrees
uint8_t data[BLOCK_DATA_SIZE]; // 96
} raw_block_t;
/** used for unpacking the first two data bytes in a block
*
* They are packed into the actual data stream misaligned. I doubt
* this works on big endian machines.
*/
union two_bytes {
int16_t uint;
int8_t bytes[2];
};
union four_bytes {
uint32_t uint;
uint8_t bytes[4];
};
static const int PACKET_SIZE = 1212;
static const int POINTS_PER_PACKET = 171;
static const int LS_POINTS_PER_PACKET = 149; // LS128S2 149 points
static const int BLOCKS_PER_PACKET = 12;
static const int PACKET_STATUS_SIZE = 4;
static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);
const int ORDER_16[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
const int ORDER_32[32] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21,
22, 23, 24, 25, 26, 27, 28, 29, 30, 31};
// 1,v2.6
static const double scan_altitude_original_A[32] = {
-16, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1,
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
// 1,v3.0
static const double scan_altitude_original_A3[32] = {
-16, 0, -15, 1, -14, 2, -13, 3, -12, 4, -11, 5, -10, 6, -9, 7,
-8, 8, -7, 9, -6, 10, -5, 11, -4, 12, -3, 13, -2, 14, -1, 15};
// 0.33,v2.6
static const double scan_altitude_original_C[32] = {
-18, -15, -12, -10, -8, -7, -6, -5, -4, -3.33, -2.66,
-3, -2.33, -2, -1.33, -1.66, -1, -0.66, 0, -0.33, 0.33, 0.66,
1.33, 1, 1.66, 2, 3, 4, 6, 8, 11, 14};
// 0.33,v3.0
static const double scan_altitude_original_C3[32] = {
-18, -1, -15, -0.66, -12, -0.33, -10, 0, -8, 0.33, -7,
0.66, -6, 1, -5, 1.33, -4, 1.66, -3.33, 2, -3, 3,
-2.66, 4, -2.33, 6, -2, 8, -1.66, 11, -1.33, 14};
// CX 4.0
// Pre-compute the sine and cosine for the altitude angles.
// c32 32度
static const double c32_32_vertical_angle[32] = {
-16, -8, 0, 8, -15, -7, 1, 9, -14, -6, 2, 10, -13, -5, 3, 11,
-12, -4, 4, 12, -11, -3, 5, 13, -10, -2, 6, 14, -9, -1, 7, 15};
// c32 70度 0x46
static const double c32_70_vertical_angle[32] = {
-54, -31, -8, 2.66, -51.5, -28, -6.66, 4, -49, -25, -5.33,
5.5, -46, -22, -4, 7, -43, -18.5, -2.66, 9, -40, -15,
-1.33, 11, -37, -12, 0, 13, -34, -10, 1.33, 15};
// c32 70度 0x47
static const double c32_70_vertical_angle2[32] = {
-54.7, -31, -9, 3, -51.5, -28, -7.5, 4.5, -49, -25, -6.0,
6.0, -46, -22, -4.5, 7.5, -43, -18.5, -3.0, 9, -40, -15,
-1.5, 11, -37, -12, 0, 13, -34, -10.5, 1.5, 15};
// c32 90度
static const double c32_90_vertical_angle[32] = {
2.487, 25.174, 47.201, 68.819, 5.596, 27.811, 49.999, 71.525,
8.591, 30.429, 52.798, 74.274, 11.494, 33.191, 55.596, 77.074,
14.324, 36.008, 58.26, 79.938, 17.096, 38.808, 60.87, 82.884,
19.824, 41.603, 63.498, 85.933, 22.513, 44.404, 66.144, 89.105};
static const double c16_vertical_angle[16] = {
-16, 0, -14, 2, -12, 4, -10, 6, -8, 8, -6, 10, -4, 12, -2, 14};
static const double c8_vertical_angle[8] = {-12, 4, -8, 8, -4, 10, 0, 12};
static const double c1_vertical_angle[8] = {0, 0, 0, 0, 0, 0, 0, 0};
static const double scan_altitude_original_2[16] = {
-0.2617993877991494, 0.017453292519943295, -0.22689280275926285,
0.05235987755982989, -0.19198621771937624, 0.08726646259971647,
-0.15707963267948966, 0.12217304763960307, -0.12217304763960307,
0.15707963267948966, -0.08726646259971647, 0.19198621771937624,
-0.05235987755982989, 0.22689280275926285, -0.017453292519943295,
0.2617993877991494};
static const double scan_altitude_original_1[16] = {
-0.17453292519943295, 0.01160643952576229, -0.15123277968530863,
0.03490658503988659, -0.12793263417118436, 0.05811946409141117,
-0.10471975511965978, 0.08141960960553547, -0.08141960960553547,
0.10471975511965978, -0.05811946409141117, 0.12793263417118436,
-0.03490658503988659, 0.15123277968530863, -0.01160643952576229,
0.17453292519943295};
static const double scan_laser_altitude[8] = {
-0.11641346110802178, -0.09302604913129776, -0.06981317007977318,
-0.04642575810304917, -0.023212879051524585, -0.0,
0.023212879051524585, 0.04642575810304917,
};
static const double scan_laser_altitude_ch32[8] = {
-0.24434609527920614, -0.19198621771937624, -0.13962634015954636,
-0.08726646259971647, -0.03490658503988659, -0.0,
0.03490658503988659, 0.08726646259971647,
};
static const double big_angle[32] = {
-17, -16, -15, -14, -13, -12, -11, -10, -9, -8, -7,
-6, -5, -4.125, -4, -3.125, -3, -2.125, -2, -1.125, -1, -0.125,
0, 0.875, 1, 1.875, 2, 3, 4, 5, 6, 7};
static const double sin_scan_laser_altitude[8] = {
std::sin(scan_laser_altitude[0]), std::sin(scan_laser_altitude[1]),
std::sin(scan_laser_altitude[2]), std::sin(scan_laser_altitude[3]),
std::sin(scan_laser_altitude[4]), std::sin(scan_laser_altitude[5]),
std::sin(scan_laser_altitude[6]), std::sin(scan_laser_altitude[7]),
};
static const double sin_scan_laser_altitude_ch32[8] = {
std::sin(scan_laser_altitude_ch32[0]),
std::sin(scan_laser_altitude_ch32[1]),
std::sin(scan_laser_altitude_ch32[2]),
std::sin(scan_laser_altitude_ch32[3]),
std::sin(scan_laser_altitude_ch32[4]),
std::sin(scan_laser_altitude_ch32[5]),
std::sin(scan_laser_altitude_ch32[6]),
std::sin(scan_laser_altitude_ch32[7]),
};
// Pre-compute the sine and cosine for the altitude angles.
static const double scan_laser_altitude_ch128[32] = {
-0.29670597283903605, -0.2792526803190927, -0.2617993877991494,
-0.24434609527920614, -0.22689280275926285, -0.20943951023931956,
-0.19198621771937624, -0.17453292519943295, -0.15707963267948966,
-0.13962634015954636, -0.12217304763960307, -0.10471975511965978,
-0.08726646259971647, -0.06981317007977318, -0.05235987755982989,
-0.03490658503988659, -0.017453292519943295, 0.0,
0.017453292519943295, 0.03490658503988659, 0.05235987755982989,
0.06981317007977318, 0.08726646259971647, 0.10471975511965978,
0.12217304763960307, 0.13962634015954636, 0.15707963267948966,
0.17453292519943295, 0.19198621771937624, 0.20943951023931956,
0.22689280275926285, 0.24434609527920614,
};
static const double sin_scan_laser_altitude_ch128[32] = {
std::sin(scan_laser_altitude_ch128[0]),
std::sin(scan_laser_altitude_ch128[1]),
std::sin(scan_laser_altitude_ch128[2]),
std::sin(scan_laser_altitude_ch128[3]),
std::sin(scan_laser_altitude_ch128[4]),
std::sin(scan_laser_altitude_ch128[5]),
std::sin(scan_laser_altitude_ch128[6]),
std::sin(scan_laser_altitude_ch128[7]),
std::sin(scan_laser_altitude_ch128[8]),
std::sin(scan_laser_altitude_ch128[9]),
std::sin(scan_laser_altitude_ch128[10]),
std::sin(scan_laser_altitude_ch128[11]),
std::sin(scan_laser_altitude_ch128[12]),
std::sin(scan_laser_altitude_ch128[13]),
std::sin(scan_laser_altitude_ch128[14]),
std::sin(scan_laser_altitude_ch128[15]),
std::sin(scan_laser_altitude_ch128[16]),
std::sin(scan_laser_altitude_ch128[17]),
std::sin(scan_laser_altitude_ch128[18]),
std::sin(scan_laser_altitude_ch128[19]),
std::sin(scan_laser_altitude_ch128[20]),
std::sin(scan_laser_altitude_ch128[21]),
std::sin(scan_laser_altitude_ch128[22]),
std::sin(scan_laser_altitude_ch128[23]),
std::sin(scan_laser_altitude_ch128[24]),
std::sin(scan_laser_altitude_ch128[25]),
std::sin(scan_laser_altitude_ch128[26]),
std::sin(scan_laser_altitude_ch128[27]),
std::sin(scan_laser_altitude_ch128[28]),
std::sin(scan_laser_altitude_ch128[29]),
std::sin(scan_laser_altitude_ch128[30]),
std::sin(scan_laser_altitude_ch128[31]),
};
static const double scan_mirror_altitude[4] = {
-0.0,
0.005759586531581287,
0.011693705988362009,
0.017453292519943295,
};
static const double sin_scan_mirror_altitude[4] = {
std::sin(scan_mirror_altitude[0]),
std::sin(scan_mirror_altitude[1]),
std::sin(scan_mirror_altitude[2]),
std::sin(scan_mirror_altitude[3]),
};
static const double scan_mirror_altitude_ch128[4] = {
0.0,
0.004363323129985824,
0.008726646259971648,
0.013089969389957472,
};
static const double sin_scan_mirror_altitude_ch128[4] = {
std::sin(scan_mirror_altitude_ch128[0]),
std::sin(scan_mirror_altitude_ch128[1]),
std::sin(scan_mirror_altitude_ch128[2]),
std::sin(scan_mirror_altitude_ch128[3]),
};
static const int POINTS_PER_PACKET_SINGLE_ECHO = 1192; // modify
static const int POINTS_PER_PACKET_DOUBLE_ECHO = 1188; // modify
/** \brief Raw Lslidar packet.
*
* revolution is described in the device manual as incrementing
* (mod 65536) for each physical turn of the device. Our device
* seems to alternate between two different values every third
* packet. One value increases, the other decreases.
*
* status has either a temperature encoding or the microcode level
*/
typedef struct FiringC32 {
uint16_t firing_azimuth[BLOCKS_PER_PACKET];
uint16_t azimuth[SCANS_PER_PACKET];
double distance[SCANS_PER_PACKET];
double intensity[SCANS_PER_PACKET];
} FiringC32;
union TwoBytes {
uint16_t distance;
uint8_t bytes[2];
};
struct RawBlock {
uint16_t header;
uint16_t rotation; // 0-35999
uint8_t data[BLOCK_DATA_SIZE];
};
struct RawPacket_C32 {
RawBlock blocks[BLOCKS_PER_PACKET];
uint32_t time_stamp;
uint8_t factory[2];
};
typedef struct raw_packet {
raw_block_t blocks[BLOCKS_PER_PACKET];
uint8_t gps_timestamp[10]; // gps时间 1200-1209
uint8_t status_type;
uint8_t status_value;
} raw_packet_t;
union vertical_point {
uint8_t uint[2];
uint16_t value;
};
struct Point {
uint8_t vertical_line; // 0-127
uint8_t azimuth_1;
uint8_t azimuth_2;
uint8_t distance_1;
uint8_t distance_2;
uint8_t distance_3;
uint8_t intensity;
};
struct RawPacket {
Point points[POINTS_PER_PACKET];
uint8_t nodata[3];
uint32_t time_stamp;
uint8_t factory[2];
};
struct Firing {
// double vertical_angle;
int vertical_line;
double azimuth;
double distance;
int intensity;
};
struct Firing_LS128S2 {
double vertical_angle;
// int vertical_line;
double azimuth;
double distance;
float intensity;
double time;
int channel_number;
};
struct Point_LS128S2 {
uint8_t vertical_line; // 0-127
uint8_t azimuth_1;
uint8_t azimuth_2;
uint8_t distance_1;
uint8_t distance_2;
uint8_t distance_3;
uint8_t intensity;
};
struct RawPacket_LS128S2 {
Point points[POINTS_PER_PACKET];
uint8_t nodata[3];
uint32_t time_stamp;
uint8_t factory[2];
};
static const float nan = std::numeric_limits<float>::signaling_NaN();
/** \brief Lslidar data conversion class */
class LslidarParser {
public:
LslidarParser() {}
explicit LslidarParser(const Config& config);
virtual ~LslidarParser() {}
/** \brief Set up for data processing.
* Perform initializations needed before data processing can
* begin:
* - read device-specific angles calibration
*
* @param private_nh private node handle for ROS parameters
* @returns 0 if successful;
* errno value for failure
*/
virtual void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg) = 0;
virtual void setup();
// Order point cloud fod IDL by lslidar model
virtual void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud) = 0;
const double get_last_timestamp() { return last_time_stamp_; }
protected:
double scan_altitude[16];
float sin_azimuth_table[ROTATION_MAX_UNITS];
float cos_azimuth_table[ROTATION_MAX_UNITS];
double cos_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];
double sin_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];
double last_time_stamp_;
double theat1_s[128];
double theat2_s[128];
double theat1_c[128];
double theat2_c[128];
double prism_angle[4];
double prism_angle64[4];
Config config_;
Calibration calibration_;
bool need_two_pt_correction_;
bool config_vert_angle;
uint64_t current_packet_time = 0;
uint64_t previous_packet_time = 0;
bool is_scan_valid(int rotation, float distance);
void ComputeCoords(const float& raw_distance,
LaserCorrection* corrections,
const uint16_t rotation, PointXYZIT* point);
void ComputeCoords2(int Laser_ring, int Type, const float& raw_distance,
LaserCorrection* corrections, const double rotation,
PointXYZIT* point);
}; // class LslidarParser
class Lslidar16Parser : public LslidarParser {
public:
explicit Lslidar16Parser(const Config& config);
~Lslidar16Parser() {}
void GeneratePointcloud(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc,
int packet_number);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint8_t difop_data[PACKET_SIZE];
int block_num;
int packet_number_;
bool read_difop_;
}; // class Lslidar16Parser
class Lslidar32Parser : public LslidarParser {
public:
explicit Lslidar32Parser(const Config& config);
~Lslidar32Parser() {}
void GeneratePointcloud(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc,
int packet_number);
double adjust_angle;
double adjust_angle_two;
double adjust_angle_three;
double adjust_angle_four;
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
uint8_t difop_data[PACKET_SIZE];
int block_num;
int lslidar_type;
int packet_number_;
bool read_difop_;
double scan_altitude_A[32] = {0};
double scan_altitude_C[32] = {0};
}; // class Lslidar32Parser
class LslidarCXV4Parser : public LslidarParser {
public:
explicit LslidarCXV4Parser(const Config& config);
~LslidarCXV4Parser() {}
void decodePacket(const RawPacket_C32* packet);
void GeneratePointcloud(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
bool checkPacketValidity(const RawPacket_C32* packet);
private:
void Unpack(const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc,
int packet_number);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
uint8_t difop_data[PACKET_SIZE];
int block_num;
int lslidar_type;
int packet_number_;
bool read_difop_;
// double c32_vertical_angle[32] = {0};
double cos_scan_altitude[32] = {0};
double sin_scan_altitude[32] = {0};
double cos_azimuth_table[36000];
double sin_azimuth_table[36000];
int vertical_angle_; // 雷达垂直角度： 32度，70度，90度
FiringC32 firings;
double distance_unit_;
int lidar_number_;
bool is_new_c32w_;
bool is_get_scan_altitude_;
}; // class LslidarCXV4Parser
class Lslidar401Parser : public LslidarParser {
public:
explicit Lslidar401Parser(const Config& config);
~Lslidar401Parser() {}
void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void decodePacket(const raw_packet_t* packet);
void Unpack(const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint8_t difop_data[PACKET_SIZE];
int block_num;
}; // class Lslidar401Parser
class LslidarCH16Parser : public LslidarParser {
public:
explicit LslidarCH16Parser(const Config& config);
~LslidarCH16Parser() {}
void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint64_t time_last;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH16Parser
class LslidarCH32Parser : public LslidarParser {
public:
explicit LslidarCH32Parser(const Config& config);
~LslidarCH32Parser() {}
void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint64_t time_last;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH32Parser
class LslidarCH64Parser : public LslidarParser {
public:
explicit LslidarCH64Parser(const Config& config);
~LslidarCH64Parser() {}
void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint64_t time_last;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH64Parser
class LslidarCH64wParser : public LslidarParser {
public:
explicit LslidarCH64wParser(const Config& config);
~LslidarCH64wParser() {}
void GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);
void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<apollo::drivers::PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint64_t time_last;
double theat1_s[128];
double theat2_s[128];
double theat1_c[128];
double theat2_c[128];
double point_time_diff;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH64Parser
class LslidarCH120Parser : public LslidarParser {
public:
explicit LslidarCH120Parser(const Config& config);
~LslidarCH120Parser() {}
void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg);
void Order(std::shared_ptr<PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint64_t time_last;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH120Parser
class LslidarCH128Parser : public LslidarParser {
public:
explicit LslidarCH128Parser(const Config& config);
~LslidarCH128Parser() {}
void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg);
void Order(std::shared_ptr<PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
double sinTheta_2[128];
double prism_angle128[4];
uint64_t time_last;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH128Parser
class LslidarCH128X1Parser : public LslidarParser {
public:
explicit LslidarCH128X1Parser(const Config& config);
~LslidarCH128X1Parser() {}
void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg);
void Order(std::shared_ptr<PointCloud> cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint8_t difop_data[PACKET_SIZE];
Firing firings[POINTS_PER_PACKET];
}; // class LslidarCH128X1Parser
class LslidarLS128S2Parser : public LslidarParser {
public:
explicit LslidarLS128S2Parser(const Config& config);
~LslidarLS128S2Parser() {}
void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg);
void Order(std::shared_ptr<PointCloud> cloud);
int convertCoordinate(const struct Firing_LS128S2& lidardata);
int convertCoordinate(const struct Firing_LS128S2& lidardata,
std::shared_ptr<PointCloud> out_cloud);
private:
void Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc);
// Previous Lslidar packet time stamp. (offset to the top hour)
double previous_packet_stamp_;
uint64_t gps_base_usec_; // full time
uint64_t last_packet_time;
uint64_t last_point_time;
size_t packets_size;
uint8_t difop_data[PACKET_SIZE];
Firing_LS128S2 firings[LS_POINTS_PER_PACKET];
int frame_count = 0; // LS系列，叠帧模式会用到
double cos_table[36000]{};
double sin_table[36000]{};
double cos_mirror_angle[4]{};
double sin_mirror_angle[4]{};
double g_fAngleAcc_V = 0.01;
bool is_add_frame_ = false;
int return_mode = 1;
std::shared_ptr<PointCloud> cur_pc;
std::shared_ptr<PointCloud> pre_pc;
int packet_number_ = 0;
}; // class LslidarLS128S2Parser
class LslidarParserFactory {
public:
static LslidarParser* CreateParser(Config config);
};
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
float R1_ = 0.04376;
float R2_ = 0.010875;
Lslidar16Parser::Lslidar16Parser(const Config &config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
need_two_pt_correction_ = false;
config_vert_angle = false;
previous_packet_time = 0;
if (2 == config_.degree_mode()) {
for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {
cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_2[i]);
sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_2[i]);
scan_altitude[i] = scan_altitude_original_2[i];
}
} else if (1 == config_.degree_mode()) {
for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {
cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_1[i]);
sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_1[i]);
scan_altitude[i] = scan_altitude_original_1[i];
}
}
for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {
float rotation =
ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;
cos_azimuth_table[rot_index] = cosf(rotation);
sin_azimuth_table[rot_index] = sinf(rotation);
}
}
void Lslidar16Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan> &scan_msg,
const std::shared_ptr<PointCloud> &out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
const unsigned char *difop_ptr =
(const unsigned char *)scan_msg->difop_pkts(0).data().c_str();
uint8_t version_data = static_cast<uint8_t>(difop_ptr[1202]);
if (config_.config_vert()) {
if (2 == version_data) {
for (int i = 0; i < 16; i++) {
uint16_t vert_angle = static_cast<uint16_t>(
difop_ptr[234 + 2 * i] * 256 + difop_ptr[234 + 2 * i + 1]);
if (vert_angle > 32767) {
vert_angle = vert_angle - 65535;
}
scan_altitude[i] =
(static_cast<float>(vert_angle) / 100.f) * DEG_TO_RAD;
if (2 == config_.degree_mode()) {
if (scan_altitude[i] != 0) {
if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *
RAD_TO_DEG >
1.5) {
scan_altitude[i] = scan_altitude_original_2[i];
}
} else {
scan_altitude[i] = scan_altitude_original_2[i];
}
} else if (1 == config_.degree_mode()) {
if (scan_altitude[i] != 0) {
if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *
RAD_TO_DEG >
1.5) {
scan_altitude[i] = scan_altitude_original_1[i];
}
} else {
scan_altitude[i] = scan_altitude_original_1[i];
}
}
config_vert_angle = true;
}
} else {
for (int i = 0; i < 16; i++) {
uint16_t vert_angle = static_cast<uint16_t>(
difop_ptr[245 + 2 * i] * 256 + difop_ptr[245 + 2 * i + 1]);
if (vert_angle > 32767) {
vert_angle = vert_angle - 65535;
}
scan_altitude[i] =
(static_cast<float>(vert_angle) / 100.f) * DEG_TO_RAD;
if (2 == config_.degree_mode()) {
if (scan_altitude[i] != 0) {
if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *
RAD_TO_DEG >
1.5) {
scan_altitude[i] = scan_altitude_original_2[i];
}
} else {
scan_altitude[i] = scan_altitude_original_2[i];
}
} else if (1 == config_.degree_mode()) {
if (scan_altitude[i] != 0) {
if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *
RAD_TO_DEG >
1.5) {
scan_altitude[i] = scan_altitude_original_1[i];
}
} else {
scan_altitude[i] = scan_altitude_original_1[i];
}
}
config_vert_angle = true;
}
}
}
size_t packets_size = scan_msg->firing_pkts_size();
packet_number_ = packets_size;
block_num = 0;
for (size_t i = 0; i < packets_size; ++i) {
Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "***************stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void Lslidar16Parser::Unpack(const LslidarPacket &pkt,
std::shared_ptr<PointCloud> pc,
int packet_number) {
float x, y, z;
float azimuth = 0.0f;
uint32_t intensity = 0;
float azimuth_diff = 0.0f;
float azimuth_corrected_f = 0.0f;
int azimuth_corrected = 0;
uint64_t point_time;
uint64_t packet_end_time;
if (config_vert_angle) {
for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {
cos_scan_altitude_caliration[i] = std::cos(scan_altitude[i]);
sin_scan_altitude_caliration[i] = std::sin(scan_altitude[i]);
}
config_vert_angle = false;
}
const raw_packet_t *raw = (const raw_packet_t *)pkt.data().c_str();
if (!config_.time_synchronization()) {
packet_end_time = pkt.stamp();
} else {
packet_end_time = pkt.stamp();
}
current_packet_time = packet_end_time;
int point_count = -1;
for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {
if (UPPER_BANK != raw->blocks[block].header) break;
azimuth = static_cast<float>(256 * raw->blocks[block].rotation_2 +
raw->blocks[block].rotation_1);
if (2 == config_.return_mode()) {
if (block < (BLOCKS_PER_PACKET - 2)) {
int azi1, azi2;
azi1 = 256 * raw->blocks[block + 2].rotation_2 +
raw->blocks[block + 2].rotation_1;
azi2 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
} else {
int azi1, azi2;
azi1 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azi2 = 256 * raw->blocks[block - 2].rotation_2 +
raw->blocks[block - 2].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
}
} else {
if (block < (BLOCKS_PER_PACKET - 1)) {
int azi1, azi2;
azi1 = 256 * raw->blocks[block + 1].rotation_2 +
raw->blocks[block + 1].rotation_1;
azi2 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
} else {
int azi1, azi2;
azi1 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azi2 = 256 * raw->blocks[block - 1].rotation_2 +
raw->blocks[block - 1].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
}
}
float cos_azimuth;
float sin_azimuth;
for (int firing = 0, k = 0; firing < LSC16_FIRINGS_PER_BLOCK; ++firing) {
for (int dsr = 0; dsr < LSC16_SCANS_PER_FIRING;
++dsr, k += RAW_SCAN_SIZE) {
point_count++;
LaserCorrection &corrections = calibration_.laser_corrections_[dsr];
/** correct for the laser rotation as a function of timing during the
* firings **/
azimuth_corrected_f =
azimuth + azimuth_diff / (LSC16_SCANS_PER_FIRING * 2) *
(LSC16_SCANS_PER_FIRING * firing + dsr);
azimuth_corrected =
static_cast<int>(round(fmod(azimuth_corrected_f, 36000.0)));
cos_azimuth = cos_azimuth_table[azimuth_corrected];
sin_azimuth = sin_azimuth_table[azimuth_corrected];
// distance
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
int distance = tmp.uint;
// read intensity
intensity = raw->blocks[block].data[k + 2];
float distance2 =
(distance * DISTANCE_RESOLUTION) * config_.distance_unit();
if (config_.calibration())
distance2 = distance2 + corrections.dist_correction;
// The offset calibration
float arg_horiz =
static_cast<float>(azimuth_corrected_f * ROTATION_RESOLUTION);
arg_horiz = arg_horiz > 360 ? (arg_horiz - 360) : arg_horiz;
float arg_horiz_orginal = (14.67 - arg_horiz) * M_PI / 180;
if (2 == config_.return_mode()) {
// modify
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(SCANS_PER_PACKET - point_count - 1) *
(current_packet_time - previous_packet_time) /
(SCANS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
} else {
// modify
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(SCANS_PER_PACKET - point_count - 1) *
(current_packet_time - previous_packet_time) /
(SCANS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
}
if ((azimuth_corrected < config_.scan_start_angle()) ||
(azimuth_corrected > config_.scan_end_angle()))
continue;
if (packet_number == 0) {
if (azimuth_corrected > 30000) {
continue;
}
}
if (packet_number == packet_number_ - 1) {
if (azimuth_corrected < 10000) {
continue;
}
}
if (distance2 > config_.max_range() ||
distance2 < config_.min_range()) {
PointXYZIT *point = pc->add_point();
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
PointXYZIT *point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(intensity);
if (config_.calibration()) {
ComputeCoords(distance2, &corrections,
static_cast<uint16_t>(azimuth_corrected), point);
} else {
x = distance2 * cos_scan_altitude_caliration[dsr] * cos_azimuth +
R1_ * cos(arg_horiz_orginal);
y = -distance2 * cos_scan_altitude_caliration[dsr] * sin_azimuth +
R1_ * sin(arg_horiz_orginal);
z = distance2 * sin_scan_altitude_caliration[dsr] + 0.426 / 100.f;
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() &&
-x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
}
}
previous_packet_time = current_packet_time;
}
void Lslidar16Parser::Order(std::shared_ptr<PointCloud> cloud) {
int width = 16;
cloud->set_width(width);
int height = cloud->point_size() / cloud->width();
cloud->set_height(height);
std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
cloud_origin->CopyFrom(*cloud);
for (int i = 0; i < width; ++i) {
int col = lslidar::ORDER_16[i];
for (int j = 0; j < height; ++j) {
// make sure offset is initialized, should be init at setup() just once
int target_index = j * width + i;
int origin_index = j * width + col;
cloud->mutable_point(target_index)
->CopyFrom(cloud_origin->point(origin_index));
}
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/convert.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/convert.h"
namespace apollo {
namespace drivers {
namespace lslidar {
using apollo::drivers::PointCloud;
using apollo::drivers::lslidar::LslidarScan;
void Convert::init(const Config& lslidar_config) {
config_ = lslidar_config;
// we use Beijing time by default
AERROR << "Convert::init";
parser_.reset(LslidarParserFactory::CreateParser(config_));
if (parser_.get() == nullptr) {
AFATAL << "Create parser failed.";
return;
}
parser_->setup();
}
/** @brief Callback for raw scan messages. */
void Convert::ConvertPacketsToPointcloud(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
std::shared_ptr<apollo::drivers::PointCloud> point_cloud) {
AINFO_EVERY(100) << "Converting scan msg seq "
<< scan_msg->header().sequence_num();
parser_->GeneratePointcloud(scan_msg, point_cloud);
if (point_cloud == nullptr || point_cloud->point().empty()) {
AERROR << "point cloud has no point";
return;
}
parser_->Order(point_cloud);
point_cloud->set_is_dense(false);
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH32Parser::LslidarCH32Parser(const Config &config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}
void LslidarCH32Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan> &scan_msg,
const std::shared_ptr<PointCloud> &out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH32Parser::Unpack(int num, const LslidarPacket &pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
time_last = 0;
const RawPacket *raw = (const RawPacket *)pkt.data().c_str();
packet_end_time = pkt.stamp();
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;
firings[point_idx].azimuth =
static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx].distance_3;
point_distance.bytes[1] = raw->points[point_idx].distance_2;
point_distance.bytes[2] = raw->points[point_idx].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx].intensity = raw->points[point_idx].intensity;
}
double scan_laser_altitude_degree[8];
if (1 == config_.degree_mode()) {
for (int i = 0; i < 8; i++)
scan_laser_altitude_degree[i] = sin_scan_laser_altitude[i];
} else {
for (int i = 0; i < 8; i++)
scan_laser_altitude_degree[i] = sin_scan_laser_altitude_ch32[i];
}
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection &corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
// Convert the point to xyz coordinate
double cos_azimuth_half = cos(firings[point_idx].azimuth * 0.5);
z_sin_altitude =
scan_laser_altitude_degree[firings[point_idx].vertical_line / 4] +
2 * cos_azimuth_half *
sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];
z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
// Compute the time of the point
uint64_t point_time =
packet_end_time - 1665 * (POINTS_PER_PACKET - point_idx - 1);
if (time_last < point_time && time_last > 0) {
point_time = time_last + 1665;
}
time_last = point_time;
PointXYZIT *point = pc->add_point();
(point_time / 1000000000.0);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH32,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
void LslidarCH32Parser::Order(std::shared_ptr<PointCloud> cloud) {
int width = 32;
cloud->set_width(width);
int height = cloud->point_size() / cloud->width();
cloud->set_height(height);
std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
cloud_origin->CopyFrom(*cloud);
for (int i = 0; i < width; ++i) {
int col = lslidar::ORDER_32[i];
for (int j = 0; j < height; ++j) {
// make sure offset is initialized, should be init at setup() just once
int target_index = j * width + i;
int origin_index = j * width + col;
cloud->mutable_point(target_index)
->CopyFrom(cloud_origin->point(origin_index));
}
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH64Parser::LslidarCH64Parser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}
void LslidarCH64Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH64Parser::Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t point_time;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
time_last = 0;
const RawPacket* raw = (const RawPacket*)pkt.data().c_str();
packet_end_time = pkt.stamp();
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;
firings[point_idx].azimuth =
static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx].distance_3;
point_distance.bytes[1] = raw->points[point_idx].distance_2;
point_distance.bytes[2] = raw->points[point_idx].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx].intensity = raw->points[point_idx].intensity;
}
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection& corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
int line_num = firings[point_idx].vertical_line;
// Convert the point to xyz coordinate
if (line_num % 8 == 0 || line_num % 8 == 1 || line_num % 8 == 2 ||
line_num % 8 == 3) {
z_sin_altitude =
sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33 * DEG_TO_RAD) +
2 * cos(firings[point_idx].azimuth / 2 + 1.05 * DEG_TO_RAD) *
sin((line_num % 4) * 0.33 * DEG_TO_RAD);
} else if (line_num % 8 == 4 || line_num % 8 == 5 || line_num % 8 == 6 ||
line_num % 8 == 7) {
z_sin_altitude =
sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33 * DEG_TO_RAD) +
2 * cos(firings[point_idx].azimuth / 2 - 1.05 * DEG_TO_RAD) *
sin((line_num % 4) * 0.33 * DEG_TO_RAD);
}
z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
// Compute the time of the point
point_time = packet_end_time - 1726 * (POINTS_PER_PACKET - point_idx - 1);
if (time_last < point_time && time_last > 0) {
point_time = time_last + 1726;
}
time_last = point_time;
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH64,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
void LslidarCH64Parser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
Lslidar32Parser::Lslidar32Parser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
adjust_angle = 0;
adjust_angle_two = 0;
adjust_angle_three = 0;
adjust_angle_four = 0;
read_difop_ = true;
config_vert_angle = false;
lslidar_type = 2;
}
void Lslidar32Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
double scan_altitude_original_degree33[32];
double scan_altitude_original_degree1[32];
int startpos = 0;
const unsigned char* difop_ptr =
(const unsigned char*)scan_msg->difop_pkts(0).data().c_str();
if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 &&
difop_ptr[3] == 0x5a) {
if ((difop_ptr[1202] >= 0x02 && difop_ptr[1203] >= 0x80) ||
difop_ptr[1202] == 0x03) {
lslidar_type = 3;
startpos = 245;
// Horizontal correction Angle
adjust_angle =
(difop_ptr[186] * 256 + difop_ptr[187]); // Angle correction A1
if (adjust_angle > 32767) {
adjust_angle = adjust_angle - 65535;
}
adjust_angle_two =
(difop_ptr[190] * 256 + difop_ptr[191]); // Angle correction A2
if (adjust_angle_two > 32767) {
adjust_angle_two = adjust_angle_two - 65535;
}
adjust_angle_three =
(difop_ptr[188] * 256 + difop_ptr[189]); // Angle correction A3
if (adjust_angle_three > 32767) {
adjust_angle_three = adjust_angle_three - 65535;
}
adjust_angle_four =
(difop_ptr[192] * 256 + difop_ptr[193]); // Angle correction A4
if (adjust_angle_four > 32767) {
adjust_angle_four = adjust_angle_four - 65535;
}
memcpy(scan_altitude_original_degree1, scan_altitude_original_A3, 32 * 8);
memcpy(scan_altitude_original_degree33, scan_altitude_original_C3,
32 * 8);
if (difop_ptr[185] == 0 || difop_ptr[185] == 1) {
int return_mode = difop_ptr[185] + 1;
config_.set_return_mode(return_mode);
if (difop_ptr[1195] == 0x21)
config_.set_degree_mode(2);
else
config_.set_degree_mode(1);
config_.set_distance_unit(0.4f);
for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {
// 均匀1度校准两列
if (1 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] = std::cos(
static_cast<float>(scan_altitude_original_A3[i] * M_PI) /
180.0f);
sin_scan_altitude_caliration[i] = std::sin(
static_cast<float>(scan_altitude_original_A3[i] * M_PI) /
180.0f);
scan_altitude_A[i] = scan_altitude_original_A3[i];
}
// 0.33度校准四列
if (2 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] = std::cos(
static_cast<float>(scan_altitude_original_C3[i] * M_PI) /
180.0f);
sin_scan_altitude_caliration[i] = std::sin(
static_cast<float>(scan_altitude_original_C3[i] * M_PI) /
180.0f);
scan_altitude_C[i] = scan_altitude_original_C3[i];
}
}
}
} else {
lslidar_type = 2;
startpos = 882;
// Horizontal correction Angle
adjust_angle =
(difop_ptr[34] * 256 + difop_ptr[35]); /*Angle correction A1*/
if (adjust_angle > 32767) {
adjust_angle = adjust_angle - 65535;
}
adjust_angle_two =
(difop_ptr[42] * 256 + difop_ptr[43]); /*Angle correction A2*/
if (adjust_angle_two > 32767) {
adjust_angle_two = adjust_angle_two - 65535;
}
adjust_angle_three =
(difop_ptr[66] * 256 + difop_ptr[67]); /*Angle correction A3*/
if (adjust_angle_three > 32767) {
adjust_angle_three = adjust_angle_three - 65535;
}
adjust_angle_four =
(difop_ptr[68] * 256 + difop_ptr[69]); /*Angle correction A4*/
if (adjust_angle_four > 32767) {
adjust_angle_four = adjust_angle_four - 65535;
}
AWARN << "Load config failed, config file";
// Vertical Angle Calibration for device package
for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {
// 均匀1度校准两列
if (1 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] = std::cos(
static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);
sin_scan_altitude_caliration[i] = std::sin(
static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);
scan_altitude_A[i] = scan_altitude_original_A[i];
}
// 0.33度校准四列
if (2 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] = std::cos(
static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);
sin_scan_altitude_caliration[i] = std::sin(
static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);
scan_altitude_C[i] = scan_altitude_original_C[i];
}
}
memcpy(scan_altitude_original_degree1, scan_altitude_original_A, 32 * 8);
memcpy(scan_altitude_original_degree33, scan_altitude_original_C, 32 * 8);
}
}
// Vertical Angle parse
if (config_.config_vert()) {
for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {
uint8_t data1 = difop_ptr[startpos + 2 * i];
uint8_t data2 = difop_ptr[startpos + 2 * i + 1];
int vert_angle = data1 * 256 + data2;
if (vert_angle > 32767) {
vert_angle = vert_angle - 65535;
}
// 均匀1度校准两列
if (1 == config_.degree_mode()) {
scan_altitude_A[i] =
static_cast<double>(vert_angle * ROTATION_RESOLUTION);
if (fabs(scan_altitude_original_degree1[i] - scan_altitude_A[i]) >
1.5) {
scan_altitude_A[i] = scan_altitude_original_degree1[i];
}
config_vert_angle = true;
}
// 0.33度校准四列
if (2 == config_.degree_mode()) {
scan_altitude_C[i] =
static_cast<double>(vert_angle * ROTATION_RESOLUTION);
if (fabs(scan_altitude_original_degree33[i] - scan_altitude_C[i]) >
1.5) {
scan_altitude_C[i] = scan_altitude_original_degree33[i];
}
config_vert_angle = true;
}
}
}
size_t packets_size = scan_msg->firing_pkts_size();
block_num = 0;
packet_number_ = packets_size;
AINFO << "packets_size :" << packets_size;
for (size_t i = 0; i < packets_size; ++i) {
Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void Lslidar32Parser::Unpack(const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc,
int packet_number) {
float x, y, z;
float azimuth = 0.0f;
uint32_t intensity = 0;
float azimuth_diff = 0.0f;
float azimuth_corrected_f = 0.0f;
float azimuth_corrected_offset_f = 0.0f;
uint64_t point_time;
uint64_t packet_end_time;
if (config_vert_angle) {
for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {
// 均匀1度校准两列
if (1 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] =
std::cos(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);
sin_scan_altitude_caliration[i] =
std::sin(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);
}
// 0.33度校准四列
if (2 == config_.degree_mode()) {
cos_scan_altitude_caliration[i] =
std::cos(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);
sin_scan_altitude_caliration[i] =
std::sin(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);
}
}
config_vert_angle = false;
}
const raw_packet_t* raw = (const raw_packet_t*)pkt.data().c_str();
if (!config_.time_synchronization()) {
packet_end_time = pkt.stamp();
} else {
packet_end_time = pkt.stamp();
}
current_packet_time = packet_end_time;
int point_count = -1;
for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {
if (UPPER_BANK != raw->blocks[block].header) break;
azimuth = static_cast<float>(256 * raw->blocks[block].rotation_2 +
raw->blocks[block].rotation_1);
if (2 == config_.return_mode()) {
if (block < (BLOCKS_PER_PACKET - 2)) {
int azi1, azi2;
azi1 = 256 * raw->blocks[block + 2].rotation_2 +
raw->blocks[block + 2].rotation_1;
azi2 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
} else {
int azi1, azi2;
azi1 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azi2 = 256 * raw->blocks[block - 2].rotation_2 +
raw->blocks[block - 2].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
}
azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;
azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;
} else {
if (block < (BLOCKS_PER_PACKET - 1)) {
int azi1, azi2;
azi1 = 256 * raw->blocks[block + 1].rotation_2 +
raw->blocks[block + 1].rotation_1;
azi2 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
} else {
int azi1, azi2;
azi1 =
256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;
azi2 = 256 * raw->blocks[block - 1].rotation_2 +
raw->blocks[block - 1].rotation_1;
azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);
}
azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;
azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;
}
for (int firing = 0, k = 0; firing < LSC32_FIRINGS_PER_BLOCK; ++firing) {
for (int dsr = 0; dsr < LSC32_SCANS_PER_FIRING;
++dsr, k += RAW_SCAN_SIZE) {
point_count++;
/** correct for the laser rotation as a function of timing during the
* firings **/
LaserCorrection& corrections = calibration_.laser_corrections_[dsr];
azimuth_corrected_f =
azimuth + azimuth_diff / LSC32_SCANS_PER_FIRING * dsr;
azimuth_corrected_f = azimuth_corrected_f < 0
? azimuth_corrected_f + 36000
: azimuth_corrected_f;
azimuth_corrected_f = azimuth_corrected_f > 36000
? azimuth_corrected_f - 36000
: azimuth_corrected_f;
// distance
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
int distance = tmp.uint;
// read intensity
intensity = raw->blocks[block].data[k + 2];
float distance2 =
(distance * DISTANCE_RESOLUTION) * config_.distance_unit();
if (config_.calibration())
distance2 = distance2 + corrections.dist_correction;
if (2 == config_.return_mode()) {
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(SCANS_PER_PACKET - point_count - 1) *
(current_packet_time - previous_packet_time) /
(SCANS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
} else {
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(SCANS_PER_PACKET - point_count - 1) *
(current_packet_time - previous_packet_time) /
(SCANS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
}
if (distance2 > config_.max_range() ||
distance2 < config_.min_range()) {
PointXYZIT* point = pc->add_point();
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
// 均匀1度校准两列
if (1 == config_.degree_mode()) {
double adjust_diff = adjust_angle_two - adjust_angle;
if (adjust_diff > 300 && adjust_diff < 460) {
// v2.7 calibrtation
if (lslidar_type == 3) {
if (1 >= dsr % 4) {
azimuth_corrected_f += adjust_angle_two;
} else {
azimuth_corrected_f += adjust_angle;
}
} else {
if (0 == dsr % 2) {
azimuth_corrected_f += adjust_angle_two;
} else {
azimuth_corrected_f += adjust_angle;
}
}
} else {
// v2.6 calibrtation
if (0 == dsr % 2) {
azimuth_corrected_f += adjust_angle;
} else {
azimuth_corrected_f -= adjust_angle;
}
}
}
// 0.33度校准四列
if (2 == config_.degree_mode()) {
double adjust_diff_one = adjust_angle_two - adjust_angle;
double adjust_diff_two = adjust_angle_four - adjust_angle_three;
if (lslidar_type == 3) {
// v3.0 calibrtation
if (0 == dsr || 1 == dsr || 4 == dsr || 8 == dsr || 9 == dsr ||
12 == dsr || 16 == dsr || 17 == dsr || 21 == dsr ||
24 == dsr || 25 == dsr || 29 == dsr)
azimuth_corrected_f += adjust_angle_four; // A4
if (2 == dsr || 3 == dsr || 6 == dsr || 10 == dsr || 11 == dsr ||
14 == dsr || 18 == dsr || 19 == dsr || 23 == dsr ||
26 == dsr || 27 == dsr || 31 == dsr)
azimuth_corrected_f += adjust_angle_three; // A3
if (5 == dsr || 13 == dsr || 20 == dsr || 28 == dsr)
azimuth_corrected_f += adjust_angle_two; // A2
if (7 == dsr || 15 == dsr || 22 == dsr || 30 == dsr)
azimuth_corrected_f += adjust_angle; // A1
} else if (adjust_diff_one > 500 && adjust_diff_one < 660 &&
adjust_diff_two > 150 && adjust_diff_two < 350) {
// v2.7 calibrtation
if (10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)
azimuth_corrected_f += adjust_angle_four; // A4
if (11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)
azimuth_corrected_f += adjust_angle_three; // A3
if (0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr ||
12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr ||
26 == dsr || 28 == dsr || 30 == dsr)
azimuth_corrected_f += adjust_angle_two; // A2
if (1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr ||
13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr ||
27 == dsr || 29 == dsr || 31 == dsr)
azimuth_corrected_f += adjust_angle; // A1
} else {
// v2.6 calibrtation
if (10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)
azimuth_corrected_f += adjust_angle;
if (11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)
azimuth_corrected_f -= adjust_angle;
if (0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr ||
12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr ||
26 == dsr || 28 == dsr || 30 == dsr)
azimuth_corrected_f += adjust_angle_two;
if (1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr ||
13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr ||
27 == dsr || 29 == dsr || 31 == dsr)
azimuth_corrected_f -= adjust_angle_two;
}
}
azimuth_corrected_f = azimuth_corrected_f < 0
? azimuth_corrected_f + 36000
: azimuth_corrected_f;
azimuth_corrected_f = azimuth_corrected_f > 36000
? azimuth_corrected_f - 36000
: azimuth_corrected_f;
if ((azimuth_corrected_f < config_.scan_start_angle()) ||
(azimuth_corrected_f > config_.scan_end_angle()))
continue;
if (packet_number == 0) {
if (azimuth_corrected_f > 30000) {
continue;
}
}
if (packet_number == packet_number_ - 1) {
if (azimuth_corrected_f < 10000) {
continue;
}
}
// 以结构为中心
float rotation_azimuth =
ROTATION_RESOLUTION *
static_cast<float>(azimuth_corrected_f * M_PI) / 180.0f;
azimuth_corrected_offset_f =
azimuth_corrected_f * ROTATION_RESOLUTION - LSC32_AZIMUTH_TOFFSET;
float rotation_azimuth_offset =
static_cast<float>(azimuth_corrected_offset_f * M_PI) / 180.0f;
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(intensity);
point->set_intensity(intensity);
if (config_.calibration()) {
ComputeCoords(distance2, &corrections,
static_cast<uint16_t>(azimuth_corrected_f), point);
} else {
x = distance2 * cos_scan_altitude_caliration[dsr] *
cosf(rotation_azimuth) +
(LSC32_DISTANCE_TOFFSET * cosf(rotation_azimuth_offset)) *
DISTANCE_RESOLUTION;
y = -(distance2 * cos_scan_altitude_caliration[dsr] *
sinf(rotation_azimuth) +
(LSC32_DISTANCE_TOFFSET * sinf(rotation_azimuth_offset)) *
DISTANCE_RESOLUTION);
z = distance2 * sin_scan_altitude_caliration[dsr];
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() &&
-x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
}
}
previous_packet_time = current_packet_time;
}
void Lslidar32Parser::Order(std::shared_ptr<PointCloud> cloud) {
int width = 32;
cloud->set_width(width);
int height = cloud->point_size() / cloud->width();
cloud->set_height(height);
std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
cloud_origin->CopyFrom(*cloud);
for (int i = 0; i < width; ++i) {
int col = lslidar::ORDER_32[i];
for (int j = 0; j < height; ++j) {
// make sure offset is initialized, should be init at setup() just once
int target_index = j * width + i;
int origin_index = j * width + col;
cloud->mutable_point(target_index)
->CopyFrom(cloud_origin->point(origin_index));
}
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH128Parser::LslidarCH128Parser(const Config &config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
last_packet_time = 0;
}
void LslidarCH128Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan> &scan_msg,
const std::shared_ptr<PointCloud> &out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
const unsigned char *difop_ptr =
(const unsigned char *)scan_msg->difop_pkts(0).data().c_str();
two_bytes angle_1, angle_2, angle_3, angle_4;
angle_1.bytes[0] = difop_ptr[87];
angle_1.bytes[1] = difop_ptr[86];
prism_angle128[0] = angle_1.uint * 0.01;
angle_2.bytes[0] = difop_ptr[89];
angle_2.bytes[1] = difop_ptr[88];
prism_angle128[1] = angle_2.uint * 0.01;
angle_3.bytes[0] = difop_ptr[91];
angle_3.bytes[1] = difop_ptr[90];
prism_angle128[2] = angle_3.uint * 0.01;
angle_4.bytes[0] = difop_ptr[93];
angle_4.bytes[1] = difop_ptr[92];
prism_angle128[3] = angle_4.uint * 0.01;
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH128Parser::Unpack(int num, const LslidarPacket &pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
double cos_azimuth_half = 0.0;
const RawPacket *raw = (const RawPacket *)pkt.data().c_str();
time_last = 0;
packet_end_time = pkt.stamp();
for (int i = 0; i < 128; i++) {
if (abs(prism_angle128[0]) < 1e-6 && abs(prism_angle128[1]) < 1e-6 &&
abs(prism_angle128[2]) < 1e-6 && abs(prism_angle128[3]) < 1e-6) {
sinTheta_2[i] = sin_scan_mirror_altitude_ch128[i % 4];
} else {
sinTheta_2[i] = std::sin(prism_angle128[i % 4] * M_PI / 180);
}
}
for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++) {
firings[point_idx1].vertical_line = raw->points[point_idx1].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;
firings[point_idx1].azimuth =
static_cast<double>(point_amuzith.uint * 0.01 * DEG_TO_RAD);
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx1].distance_3;
point_distance.bytes[1] = raw->points[point_idx1].distance_2;
point_distance.bytes[2] = raw->points[point_idx1].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx1].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx1].intensity = raw->points[point_idx1].intensity;
}
for (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection &corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
if (firings[point_idx].vertical_line / 4 % 2 == 0) {
cos_azimuth_half =
sin((firings[point_idx].azimuth - 15 * DEG_TO_RAD) * 0.5);
} else {
cos_azimuth_half =
cos((firings[point_idx].azimuth + 15 * DEG_TO_RAD) * 0.5);
}
z_sin_altitude =
sin_scan_laser_altitude_ch128[firings[point_idx].vertical_line / 4] +
2 * cos_azimuth_half * sinTheta_2[firings[point_idx].vertical_line];
z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
// Compute the time of the point
uint64_t point_time =
packet_end_time - 1562.5 * ((POINTS_PER_PACKET - point_idx) / 7 - 1);
if (time_last < point_time && time_last > 0) {
point_time = time_last + 1562.5;
}
time_last = point_time;
PointXYZIT *point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH128,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
}
void LslidarCH128Parser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH64wParser::LslidarCH64wParser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
point_time_diff = 1 / (60.0 * 1000 * 32); // s
for (int i = 0; i < 4; ++i) {
prism_angle64[i] = i * 0.35;
}
for (int j = 0; j < 128; ++j) {
if (j / 4 % 2 == 0) {
theat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);
theat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);
} else {
theat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);
theat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);
theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);
}
}
}
void LslidarCH64wParser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
packets_size = scan_msg->firing_pkts_size();
AINFO << "packets_size :" << packets_size;
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH64wParser::Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t point_time;
uint64_t packet_end_time;
time_last = 0;
const RawPacket* raw = (const RawPacket*)pkt.data().c_str();
double cos_xita;
// 垂直角度
double sin_theat;
double cos_theat;
double _R_;
// 水平角度
double cos_H_xita;
double sin_H_xita;
double cos_xita_F;
double sin_xita_F;
packet_end_time = pkt.stamp();
current_packet_time = packet_end_time;
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;
firings[point_idx].azimuth =
static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx].distance_3;
point_distance.bytes[1] = raw->points[point_idx].distance_2;
point_distance.bytes[2] = raw->points[point_idx].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx].intensity = raw->points[point_idx].intensity;
}
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection& corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
int line_num = firings[point_idx].vertical_line;
if (line_num / 4 % 2 == 0) {
cos_xita = cos((firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 22.5) *
M_PI / 180);
} else {
cos_xita = cos((-firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 112.5) *
M_PI / 180);
}
_R_ = theat2_c[line_num] * theat1_c[line_num] * cos_xita -
theat2_s[line_num] * theat1_s[line_num];
sin_theat = theat1_s[line_num] + 2 * _R_ * theat2_s[line_num];
cos_theat = sqrt(1 - pow(sin_theat, 2));
cos_H_xita =
(2 * _R_ * theat2_c[line_num] * cos_xita - theat1_c[line_num]) /
cos_theat;
sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));
if (line_num / 4 % 2 == 0) {
cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);
sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));
} else {
cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));
sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));
}
x = firings[point_idx].distance * cos_theat * cos_xita_F;
y = firings[point_idx].distance * cos_theat * sin_xita_F;
z = firings[point_idx].distance * sin_theat;
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))
return;
// modify
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(POINTS_PER_PACKET - point_idx - 1) *
(current_packet_time - previous_packet_time) /
(POINTS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH64w,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
previous_packet_time = current_packet_time;
}
void LslidarCH64wParser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCXV4Parser::LslidarCXV4Parser(const Config &config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
vertical_angle_ = config.vertical_angle();
distance_unit_ = config.distance_unit();
is_new_c32w_ = true;
is_get_scan_altitude_ = false;
AERROR << "vertical_angle_ " << vertical_angle_;
if (config_.model() == LSLIDAR_C16_V4) {
lidar_number_ = 16;
AERROR << "lidar: c16";
for (int i = 0; i < 16; ++i) {
sin_scan_altitude[i] = sin(c16_vertical_angle[i] * DEG_TO_RAD);
cos_scan_altitude[i] = cos(c16_vertical_angle[i] * DEG_TO_RAD);
}
} else if (config_.model() == LSLIDAR_C8_V4) {
lidar_number_ = 8;
AERROR << "lidar: c8";
for (int i = 0; i < 8; ++i) {
sin_scan_altitude[i] = sin(c8_vertical_angle[i] * DEG_TO_RAD);
cos_scan_altitude[i] = cos(c8_vertical_angle[i] * DEG_TO_RAD);
}
} else if (config_.model() == LSLIDAR_C1_V4) {
lidar_number_ = 1;
AERROR << "lidar: c1";
for (int i = 0; i < 8; ++i) {
sin_scan_altitude[i] = sin(c1_vertical_angle[i] * DEG_TO_RAD);
cos_scan_altitude[i] = cos(c1_vertical_angle[i] * DEG_TO_RAD);
}
} else if (config_.model() == LSLIDAR_C32_V4) {
lidar_number_ = 32;
if (32 == config.vertical_angle()) {
AERROR << "Vertical angle: 32 degrees";
for (int i = 0; i < 32; ++i) {
sin_scan_altitude[i] = sin(c32_32_vertical_angle[i] * DEG_TO_RAD);
cos_scan_altitude[i] = cos(c32_32_vertical_angle[i] * DEG_TO_RAD);
}
} else if (70 == config.vertical_angle()) {
AERROR << "Vertical angle: 70 degrees";
for (int k = 0; k < 32; ++k) {
sin_scan_altitude[k] = sin(c32_70_vertical_angle2[k] * DEG_TO_RAD);
cos_scan_altitude[k] = cos(c32_70_vertical_angle2[k] * DEG_TO_RAD);
}
} else if (90 == config.vertical_angle()) {
AERROR << "Vertical angle: 90 degrees";
for (int k = 0; k < 32; ++k) {
sin_scan_altitude[k] = sin(c32_90_vertical_angle[k] * DEG_TO_RAD);
cos_scan_altitude[k] = cos(c32_90_vertical_angle[k] * DEG_TO_RAD);
}
}
}
// create the sin and cos table for different azimuth values
for (int j = 0; j < 36000; ++j) {
double angle = static_cast<double>(j) / 100.0 * DEG_TO_RAD;
sin_azimuth_table[j] = sin(angle);
cos_azimuth_table[j] = cos(angle);
}
config_vert_angle = false;
lslidar_type = 2;
}
void LslidarCXV4Parser::decodePacket(const RawPacket_C32 *packet) {
// couputer azimuth angle for each firing, 12
for (size_t b_idx = 0; b_idx < BLOCKS_PER_PACKET; ++b_idx) {
firings.firing_azimuth[b_idx] =
packet->blocks[b_idx].rotation % 36000; //* 0.01 * DEG_TO_RAD;
}
for (size_t block_idx = 0; block_idx < BLOCKS_PER_PACKET; ++block_idx) {
const RawBlock &raw_block = packet->blocks[block_idx];
int32_t azimuth_diff_b = 0;
if (config_.return_mode() == 1) {
if (block_idx < BLOCKS_PER_PACKET - 1) {
azimuth_diff_b = firings.firing_azimuth[block_idx + 1] -
firings.firing_azimuth[block_idx];
azimuth_diff_b =
azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;
} else {
azimuth_diff_b = firings.firing_azimuth[block_idx] -
firings.firing_azimuth[block_idx - 1];
azimuth_diff_b =
azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;
}
} else {
// return mode 2
if (block_idx < BLOCKS_PER_PACKET - 2) {
azimuth_diff_b = firings.firing_azimuth[block_idx + 2] -
firings.firing_azimuth[block_idx];
azimuth_diff_b =
azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;
} else {
azimuth_diff_b = firings.firing_azimuth[block_idx] -
firings.firing_azimuth[block_idx - 2];
azimuth_diff_b =
azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;
}
}
// 32 scan
for (size_t scan_fir_idx = 0; scan_fir_idx < SCANS_PER_FIRING_C32;
++scan_fir_idx) {
size_t byte_idx = RAW_SCAN_SIZE * scan_fir_idx;
// azimuth
firings.azimuth[block_idx * 32 + scan_fir_idx] =
firings.firing_azimuth[block_idx] +
scan_fir_idx * azimuth_diff_b / FIRING_TOFFSET_C32;
firings.azimuth[block_idx * 32 + scan_fir_idx] =
firings.azimuth[block_idx * 32 + scan_fir_idx] % 36000;
// distance
TwoBytes raw_distance{};
raw_distance.bytes[0] = raw_block.data[byte_idx];
raw_distance.bytes[1] = raw_block.data[byte_idx + 1];
firings.distance[block_idx * 32 + scan_fir_idx] =
static_cast<double>(raw_distance.distance) * DISTANCE_RESOLUTION *
distance_unit_;
// intensity
firings.intensity[block_idx * 32 + scan_fir_idx] =
static_cast<double>(raw_block.data[byte_idx + 2]);
}
}
return;
}
bool LslidarCXV4Parser::checkPacketValidity(const RawPacket_C32 *packet) {
for (size_t blk_idx = 0; blk_idx < BLOCKS_PER_PACKET; ++blk_idx) {
if (packet->blocks[blk_idx].header != UPPER_BANK) {
return false;
}
}
return true;
}
void LslidarCXV4Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan> &scan_msg,
const std::shared_ptr<PointCloud> &out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
const unsigned char *difop_ptr =
(const unsigned char *)scan_msg->difop_pkts(0).data().c_str();
if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 &&
difop_ptr[3] == 0x5a) {
AINFO << "设备包，暂时用不上..."; // todo 暂时不用设备包
}
size_t packets_size = scan_msg->firing_pkts_size();
block_num = 0;
packet_number_ = packets_size;
AINFO << "packets_size :" << packets_size;
for (size_t i = 0; i < packets_size; ++i) {
Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCXV4Parser::Unpack(const LslidarPacket &pkt,
std::shared_ptr<PointCloud> pc,
int packet_number) {
double point_time;
const RawPacket_C32 *raw_packet = (const RawPacket_C32 *)(pkt.data().c_str());
uint8_t *data =
reinterpret_cast<uint8_t *>(const_cast<char *>(pkt.data().c_str()));
// check if the packet is valid
if (!checkPacketValidity(raw_packet)) return;
// decode the packet
decodePacket(raw_packet);
if (!is_get_scan_altitude_ &&
static_cast<uint16_t>(data[1211]) == 0x46) { // old C32w
AERROR << "byte[1211] == 0x46: old C32W";
is_new_c32w_ = false;
for (int k = 0; k < 32; ++k) {
sin_scan_altitude[k] = sin(c32_70_vertical_angle[k] * DEG_TO_RAD);
cos_scan_altitude[k] = cos(c32_70_vertical_angle[k] * DEG_TO_RAD);
}
is_get_scan_altitude_ = true;
}
for (size_t fir_idx = 0; fir_idx < SCANS_PER_PACKET; ++fir_idx) {
if (!is_new_c32w_ && vertical_angle_ == 70) {
if (fir_idx % 32 == 29 || fir_idx % 32 == 6 || fir_idx % 32 == 14 ||
fir_idx % 32 == 22 || fir_idx % 32 == 30 || fir_idx % 32 == 7 ||
fir_idx % 32 == 15 || fir_idx % 32 == 23) {
firings.azimuth[fir_idx] += 389;
}
if (firings.azimuth[fir_idx] > 36000) firings.azimuth[fir_idx] -= 36000;
}
// convert the point to xyz coordinate
size_t table_idx = firings.azimuth[fir_idx];
double cos_azimuth = cos_azimuth_table[table_idx];
double sin_azimuth = sin_azimuth_table[table_idx];
double x_coord, y_coord, z_coord;
bool coordinate_opt = true;
double R1 = 0.0;
if (vertical_angle_ == 90) { // ch32r
R1 = CX4_R1_90;
} else if (is_new_c32w_) { // new C32w
R1 = CX4_C32W;
} else { // others
R1 = CX4_R1_;
}
double conversionAngle =
(vertical_angle_ == 90) ? CX4_conversionAngle_90 : CX4_conversionAngle_;
if (coordinate_opt) {
x_coord = firings.distance[fir_idx] *
cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +
R1 * cos((conversionAngle - firings.azimuth[fir_idx] * 0.01) *
DEG_TO_RAD);
y_coord = -firings.distance[fir_idx] *
cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +
R1 * sin((conversionAngle - firings.azimuth[fir_idx] * 0.01) *
DEG_TO_RAD);
z_coord = firings.distance[fir_idx] *
sin_scan_altitude[fir_idx % lidar_number_];
} else {
// Y-axis correspondence 0 degree
x_coord = firings.distance[fir_idx] *
cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +
R1 * sin((firings.azimuth[fir_idx] * 0.01 - conversionAngle) *
DEG_TO_RAD);
y_coord = firings.distance[fir_idx] *
cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +
R1 * cos((firings.azimuth[fir_idx] * 0.01 - conversionAngle) *
DEG_TO_RAD);
z_coord = firings.distance[fir_idx] *
sin_scan_altitude[fir_idx % lidar_number_];
}
// computer the time of the point
if (last_packet_time > 1e-6) {
point_time = current_packet_time -
(current_packet_time - previous_packet_time) *
(SCANS_PER_PACKET - fir_idx - 1) / SCANS_PER_PACKET;
} else {
point_time = current_packet_time;
}
if (firings.distance[fir_idx] > config_.max_range() ||
firings.distance[fir_idx] < config_.min_range()) {
PointXYZIT *point = pc->add_point();
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
if ((firings.azimuth[fir_idx] < config_.scan_start_angle()) ||
(firings.azimuth[fir_idx] > config_.scan_end_angle()))
continue;
if (packet_number == 0) {
if (firings.azimuth[fir_idx] > 30000) {
continue;
}
}
if (packet_number == packet_number_ - 1) {
if (firings.azimuth[fir_idx] < 10000) {
continue;
}
}
PointXYZIT *point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings.intensity[fir_idx]);
if ((y_coord >= config_.bottom_left_x() &&
y_coord <= config_.top_right_x()) &&
(-x_coord >= config_.bottom_left_y() &&
-x_coord <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y_coord);
point->set_y(-x_coord);
point->set_z(z_coord);
}
}
}
previous_packet_time = current_packet_time;
}
void LslidarCXV4Parser::Order(std::shared_ptr<PointCloud> cloud) {
int width = 32;
cloud->set_width(width);
int height = cloud->point_size() / cloud->width();
cloud->set_height(height);
std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();
cloud_origin->CopyFrom(*cloud);
for (int i = 0; i < width; ++i) {
int col = lslidar::ORDER_32[i];
for (int j = 0; j < height; ++j) {
// make sure offset is initialized, should be init at setup() just once
int target_index = j * width + i;
int origin_index = j * width + col;
cloud->mutable_point(target_index)
->CopyFrom(cloud_origin->point(origin_index));
}
}
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
LslidarCH128X1Parser::LslidarCH128X1Parser(const Config& config)
: LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}
void LslidarCH128X1Parser::GeneratePointcloud(
const std::shared_ptr<LslidarScan>& scan_msg,
const std::shared_ptr<PointCloud>& out_msg) {
// allocate a point cloud with same time and frame ID as raw data
out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /
1000000000.0);
out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());
out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
out_msg->set_height(1);
out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
out_msg->mutable_header()->set_sequence_num(
scan_msg->header().sequence_num());
gps_base_usec_ = scan_msg->basetime();
const unsigned char* difop_ptr =
(const unsigned char*)scan_msg->difop_pkts(0).data().c_str();
two_bytes angle_1, angle_2, angle_3, angle_4;
angle_1.bytes[0] = difop_ptr[243];
angle_1.bytes[1] = difop_ptr[242];
prism_angle[0] = angle_1.uint * 0.01;
angle_2.bytes[0] = difop_ptr[245];
angle_2.bytes[1] = difop_ptr[244];
prism_angle[1] = angle_2.uint * 0.01;
angle_3.bytes[0] = difop_ptr[247];
angle_3.bytes[1] = difop_ptr[246];
prism_angle[2] = angle_3.uint * 0.01;
angle_4.bytes[0] = difop_ptr[249];
angle_4.bytes[1] = difop_ptr[248];
prism_angle[3] = angle_4.uint * 0.01;
packets_size = scan_msg->firing_pkts_size();
for (size_t i = 0; i < packets_size; ++i) {
Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),
out_msg);
last_time_stamp_ = out_msg->measurement_time();
ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
}
AINFO << "packets_size :" << packets_size;
if (out_msg->point().empty()) {
// we discard this pointcloud if empty
AERROR << "All points is NAN!Please check lslidar:" << config_.model();
}
// set default width
out_msg->set_width(out_msg->point_size());
}
/** @brief convert raw packet to point cloud
* @param pkt raw packet to Unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void LslidarCH128X1Parser::Unpack(int num, const LslidarPacket& pkt,
std::shared_ptr<PointCloud> pc) {
float x, y, z;
uint64_t point_time;
uint64_t packet_end_time;
double z_sin_altitude = 0.0;
double z_cos_altitude = 0.0;
double sinTheta_1[128] = {0};
double cosTheta_1[128] = {0};
double sinTheta_2[128] = {0};
double cosTheta_2[128] = {0};
for (int i = 0; i < 128; i++) {
sinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);
cosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);
if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&
abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {
sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);
cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);
} else {
sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);
cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);
}
}
const RawPacket* raw = (const RawPacket*)pkt.data().c_str();
packet_end_time = pkt.stamp();
current_packet_time = packet_end_time;
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;
two_bytes point_amuzith;
point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;
point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;
firings[point_idx].azimuth =
static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;
four_bytes point_distance;
point_distance.bytes[0] = raw->points[point_idx].distance_3;
point_distance.bytes[1] = raw->points[point_idx].distance_2;
point_distance.bytes[2] = raw->points[point_idx].distance_1;
point_distance.bytes[3] = 0;
firings[point_idx].distance =
static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;
firings[point_idx].intensity = raw->points[point_idx].intensity;
}
for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {
LaserCorrection& corrections =
calibration_.laser_corrections_[firings[point_idx].vertical_line];
if (config_.calibration())
firings[point_idx].distance =
firings[point_idx].distance + corrections.dist_correction;
if (firings[point_idx].distance > config_.max_range() ||
firings[point_idx].distance < config_.min_range())
continue;
double _R_ = cosTheta_2[firings[point_idx].vertical_line] *
cosTheta_1[firings[point_idx].vertical_line] *
cos(firings[point_idx].azimuth / 2.0) -
sinTheta_2[firings[point_idx].vertical_line] *
sinTheta_1[firings[point_idx].vertical_line];
z_sin_altitude = sinTheta_1[firings[point_idx].vertical_line] +
2 * _R_ * sinTheta_2[firings[point_idx].vertical_line];
z_cos_altitude = sqrt(1 - pow(z_sin_altitude, 2));
x = firings[point_idx].distance * z_cos_altitude *
cos(firings[point_idx].azimuth);
y = firings[point_idx].distance * z_cos_altitude *
sin(firings[point_idx].azimuth);
z = firings[point_idx].distance * z_sin_altitude;
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))
return;
// Compute the time of the point
// modify
if (previous_packet_time > 1e-6) {
point_time = current_packet_time -
(POINTS_PER_PACKET - point_idx - 1) *
(current_packet_time - previous_packet_time) /
(POINTS_PER_PACKET);
} else { // fist packet
point_time = current_packet_time;
}
PointXYZIT* point = pc->add_point();
point->set_timestamp(point_time);
point->set_intensity(firings[point_idx].intensity);
if (config_.calibration()) {
ComputeCoords2(firings[point_idx].vertical_line, CH128X1,
firings[point_idx].distance, &corrections,
firings[point_idx].azimuth, point);
} else {
if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&
(-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {
point->set_x(nan);
point->set_y(nan);
point->set_z(nan);
point->set_timestamp(point_time);
point->set_intensity(0);
} else {
point->set_x(y);
point->set_y(-x);
point->set_z(z);
}
}
}
previous_packet_time = current_packet_time;
}
void LslidarCH128X1Parser::Order(std::shared_ptr<PointCloud> cloud) {}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
library_dest = "drivers/lib/lidar/lslidar/parser",
targets = [
":liblslidar_convert_component.so",
],
)
cc_binary(
name = "liblslidar_convert_component.so",
linkshared = True,
linkstatic = True,
deps = [":lslidar_convert_component_lib"],
)
cc_library(
name = "lslidar_convert_component_lib",
srcs = ["lslidar_convert_component.cc"],
hdrs = ["lslidar_convert_component.h"],
copts = ['-DMODULE_NAME=\\"lslidar\\"'],
deps = [
"//cyber",
"//modules/drivers/lidar/lslidar/parser:convert",
],
alwayslink = True,
)
cc_library(
name = "convert",
srcs = [
"calibration.cc",
"convert.cc",
"lslidar16_parser.cc",
"lslidar32_parser.cc",
"lslidarCXV4_parser.cc",
"lslidarCH16_parser.cc",
"lslidarCH32_parser.cc",
"lslidarCH64_parser.cc",
"lslidarCH64w_parser.cc",
"lslidarCH120_parser.cc",
"lslidarCH128_parser.cc",
"lslidarCH128X1_parser.cc",
"lslidarLS128S2_parser.cc",
"lslidar_parser.cc",
],
hdrs = [
"calibration.h",
"convert.h",
"lslidar_parser.h",
],
copts = ['-DMODULE_NAME=\\"lslidar\\"'],
deps = [
"//cyber",
"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto",
"//modules/drivers/lidar/lslidar/proto:config_cc_proto",
"//modules/drivers/lidar/lslidar/proto:lslidar_cc_proto",
"@com_github_jbeder_yaml_cpp//:yaml-cpp",
],
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/convert.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#pragma once
#include <memory>
#include <string>
// #include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "modules/drivers/lidar/lslidar/proto/config.pb.h"
#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
#include "modules/drivers/lidar/lslidar/parser/lslidar_parser.h"
namespace apollo {
namespace drivers {
namespace lslidar {
using apollo::drivers::PointCloud;
using apollo::drivers::lslidar::LslidarScan;
// convert lslidar data to pointcloud and republish
class Convert {
public:
Convert() = default;
virtual ~Convert() = default;
// init lslidar config struct from private_nh
void init(const Config& lslidar_config);
// convert lslidar data to pointcloud and public
void ConvertPacketsToPointcloud(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out);
private:
// RawData class for converting data to point cloud
std::unique_ptr<LslidarParser> parser_;
std::string channel_pointcloud_;
/// configuration parameters, get config struct from lslidar_parser.h
Config config_;
};
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* 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.
*****************************************************************************/
#include "modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h"
namespace apollo {
namespace drivers {
namespace lslidar {
static void my_handler(int sig) { exit(-1); }
bool LslidarConvertComponent::Init() {
signal(SIGINT, my_handler);
Config lslidar_config;
if (!GetProtoConfig(&lslidar_config)) {
AWARN << "Load config failed, config file" << config_file_path_;
return false;
}
conv_.reset(new Convert());
conv_->init(lslidar_config);
writer_ = node_->CreateWriter<apollo::drivers::PointCloud>(
lslidar_config.convert_channel_name());
point_cloud_pool_.reset(
new CCObjectPool<apollo::drivers::PointCloud>(pool_size_));
point_cloud_pool_->ConstructAll();
for (int i = 0; i < pool_size_; i++) {
auto point_cloud = point_cloud_pool_->GetObject();
if (point_cloud == nullptr) {
AERROR << "fail to getobject, i: " << i;
return false;
}
point_cloud->mutable_point()->Reserve(200000);
}
AINFO << "Point cloud comp convert init success";
return true;
}
bool LslidarConvertComponent::Proc(
const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg) {
std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out =
point_cloud_pool_->GetObject();
if (point_cloud_out == nullptr) {
AWARN << "poin cloud pool return nullptr, will be create new.";
point_cloud_out = std::make_shared<apollo::drivers::PointCloud>();
point_cloud_out->mutable_point()->Reserve(200000);
}
if (point_cloud_out == nullptr) {
AWARN << "point cloud out is nullptr";
return false;
}
uint64_t time1 = apollo::cyber::Time().Now().ToNanosecond();
AINFO << "receive scan!---------";
point_cloud_out->Clear();
conv_->ConvertPacketsToPointcloud(scan_msg, point_cloud_out);
uint64_t time2 = apollo::cyber::Time().Now().ToNanosecond();
AINFO << "process pointcloud time: " << (time2 - time1) / 1000000000.0;
if (point_cloud_out == nullptr || point_cloud_out->point().empty()) {
AWARN << "point_cloud_out convert is empty.";
return false;
}
writer_->Write(point_cloud_out);
return true;
}
} // namespace lslidar
} // namespace drivers
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 64
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 64
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 128
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 128
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 1598864145
nsecs: 0
frame_id: novatel
transform:
rotation:
x: -0.010
y: -0.007
z: 0.174
w: 0.985
translation:
x: -0.521985649500604
y: 0.6272410563007734
z: 0.2723201225767891
child_frame_id: lslidar16
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22689280276,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22397810290916,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22106340305832,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.21814870320748,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.21523400335664,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.2123193035058,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20940460365496,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20648990380412,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20357520395328,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20066050410244,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1977458042516,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19483110440076,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.19191640454992,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.18900170469908,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18608700484824,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1831723049974,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18025760514656,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17734290529572,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17442820544488,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17151350559404,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1685988057432,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.16568410589236,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.16276940604152,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15985470619068,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15694000633984,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.154025306489,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15111060663816,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14819590678732,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.14528120693648,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14236650708564,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1394518072348,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13653710738396,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13362240753312,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13070770768228,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12779300783144,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1248783079806,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.12196360812976,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11904890827892,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11613420942808,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.11321950857724,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1103048087264,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10739010887556,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10447540902472,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10156070917388,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09864600932304,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0957313094722,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09281660962136,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08990190977052,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.08698720991968,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08407251006884,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.081157810218,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07824311036716,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.07532841051632,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07241371066548,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06949901081464,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0665843109638,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06366961111296,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.06075491126212,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.05784021141128,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05492551156044,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0520108117096,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04909611185876,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04618141200792,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04326671215708,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04035201230624,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0374373124554,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03452261260456,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.03160791275372,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.02869321290288,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.02577851305204,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0228638132012,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01994911335036,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01703441349952,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.01411971364868,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01120501379784,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.008290313947,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.00537561409616,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.00246091424532,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00045378560552,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.00336848545636,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0062831853072,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00919788515804,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01211258500888,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01502728485972,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01794198471056,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0208566845614,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02377138441224,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.02668608426308,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02960078411392,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03251548396476,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0354301838156,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03834488366644,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04125958351728,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.04417428336812,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04708898321896,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0500036830698,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05291838292064,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05583308277148,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05874778262232,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06166248247316,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.064577182324,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06749188217484,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07040658202568,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.07332128187652,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07623598172736,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0791506815782,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08206538142904,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08498008127988,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08789478113072,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09080948098156,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0937241808324,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09663888068324,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09955358053408,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10246828038492,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.10538298023576,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.1082976800866,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11121237993744,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11412707978828,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11704177963912,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11995647948996,
vert_offset_correction: 0.0}
num_lasers: 120
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 32
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 1598864145
nsecs: 0
frame_id: novatel
transform:
rotation:
x: 0.019
y: -0.030
z: -0.009
w: 0.999
translation:
x: -0.221985649500604
y: 0.6272410563007734
z: 0.0723201225767891
child_frame_id: lslidar32
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,
vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,
vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,
vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,
vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,
vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,
vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,
vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,
vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,
vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,
vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,
vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,
vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,
vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,
vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,
vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,
vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}
num_lasers: 16
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.27925268031909273,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.26179938779914944,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.24434609527920614,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22689280275926285,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20943951023931955,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19198621771937625,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17453292519943296,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15707963267948966,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13962634015954637,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12217304763960307,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10471975511965977,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08726646259971647,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06981317007977318,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05235987755982989,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03490658503988659,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01745329251994329,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01745329251994329,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.03490658503988659,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05235987755982989,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.06981317007977318,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08726646259971647,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10471975511965977,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.12217304763960307,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.13962634015954637,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.15707963267948966,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.17453292519943296,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.19198621771937625,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.20943951023931955,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.22689280275926285,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
min_intensity: 0, rot_correction: -0.0, vert_correction: 0.24434609527920614,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.26179938779914944,
vert_offset_correction: 0.0}
num_lasers: 32
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,
vert_offset_correction: 0.0}
num_lasers: 16
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 1598864145
nsecs: 0
frame_id: novatel
transform:
rotation:
x: -0.03002220039113074
y: -0.03153447400805393
z: 0.4900925455685196
w: 0.870582300079021
translation:
x: 0.5137241988598309
y: 0.5743627411243659
z: 0.3108987234285666
child_frame_id: lslidarCH64w
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt
|
model: LSLIDAR_CH32
device_ip: "192.168.1.200"
msop_port: 2368
difop_port: 2369
degree_mode: 1
packet_size: 1206
time_synchronization: true
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600
convert_channel_name: "/apollo/sensor/lslidarCH32/PointCloud2"
frame_id: "lslidarCH32"
scan_channel: "/apollo/sensor/lslidarCH32/Scan"
min_range: 0.15
max_range: 150.0
calibration: false
calibration_file: "/apollo/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml"
#要屏蔽的矩形区域参数
bottom_left_x: 0.0 #左下 x值
bottom_left_y: 0.0 #左下 y值
top_right_x: 0.0 #右上 x值
top_right_y: 0.0 #右上 y值
pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt
|
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lslidar16v4/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt
|
model: LSLIDAR_C32_V4
device_ip: "192.168.1.200"
msop_port: 2368
difop_port: 2369
vertical_angle: 32 # 雷达垂直角度： 32度，70度，90度
return_mode: 1
degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列
distance_unit: 0.4
packet_size: 1212
time_synchronization: false
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600
convert_channel_name: "/apollo/sensor/lslidar32v4/PointCloud2"
frame_id: "lslidar32v4"
scan_channel: "/apollo/sensor/lslidar32v4/Scan"
min_range: 0.15
max_range: 150.0
config_vert: true
scan_start_angle: 0.0
scan_end_angle: 36000.0
#要屏蔽的矩形区域参数
bottom_left_x: 0.0 #左下 x值
bottom_left_y: 0.0 #左下 y值
top_right_x: 0.0 #右上 x值
top_right_y: 0.0 #右上 y值
pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt
|
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lslidarCH32/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt
|
model: LSLIDAR_CH128X1
device_ip: "192.168.1.200"
msop_port: 2368
difop_port: 2369
packet_size: 1206
time_synchronization: false
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600
convert_channel_name: "/apollo/sensor/lslidarCH128X1/PointCloud2"
frame_id: "lslidarCH128X1"
scan_channel: "/apollo/sensor/lslidarCH128X1/Scan"
min_range: 0.15
max_range: 150.0
calibration: false
calibration_file: "/apollo/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml"
#要屏蔽的矩形区域参数
bottom_left_x: 0.0 #左下 x值
bottom_left_y: 0.0 #左下 y值
top_right_x: 0.0 #右上 x值
top_right_y: 0.0 #右上 y值
pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt
|
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lslidarCH128/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt
|
model: LSLIDAR_C16_V4
device_ip: "192.168.1.200"
msop_port: 2368
difop_port: 2369
return_mode: 1
degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列
distance_unit: 0.4
packet_size: 1212
time_synchronization: false
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600
convert_channel_name: "/apollo/sensor/lslidar16v4/PointCloud2"
frame_id: "lslidar16v4"
scan_channel: "/apollo/sensor/lslidar16v4/Scan"
min_range: 0.15
max_range: 150.0
config_vert: true
scan_start_angle: 0.0
scan_end_angle: 36000.0
#要屏蔽的矩形区域参数
bottom_left_x: 0.0 #左下 x值
bottom_left_y: 0.0 #左下 y值
top_right_x: 0.0 #右上 x值
top_right_y: 0.0 #右上 y值
pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt
|
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lslidar32v4/compensator/PointCloud2"
| 0
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar
|
apollo_public_repos/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt
|
model: LSLIDAR_CH128
device_ip: "192.168.1.102"
msop_port: 2368
difop_port: 2369
packet_size: 1206
time_synchronization: false
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600
convert_channel_name: "/apollo/sensor/lslidarCH128/PointCloud2"
frame_id: "lslidarCH128"
scan_channel: "/apollo/sensor/lslidarCH128/Scan"
min_range: 0.15
max_range: 150.0
calibration: false
calibration_file: "/apollo/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml"
#要屏蔽的矩形区域参数
bottom_left_x: 0.0 #左下 x值
bottom_left_y: 0.0 #左下 y值
top_right_x: 0.0 #右上 x值
top_right_y: 0.0 #右上 y值
pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
| 0
|
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