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|---|---|---|---|
apollo_public_repos/apollo-contrib/rslidar/rslidar
|
apollo_public_repos/apollo-contrib/rslidar/rslidar/scripts/start_rslidar.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
if pidof -o %PPID -x "roscore" > /dev/null; then
if rosnode list |grep driver_node > /dev/null; then
rosnode kill /sensor_rslidar16_driver
fi
if rosnode list |grep convert_node > /dev/null; then
rosnode kill /sensor_rslidar16_convert
fi
if rosnode list |grep rslidar_nodelet_manager > /dev/null; then
rosnode kill /rslidar_nodelet_manager
fi
fi
roslaunch rslidar start_rslidar.launch
| 0
|
apollo_public_repos/apollo-contrib/rslidar
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs/CMakeLists.txt
|
cmake_minimum_required(VERSION 2.8.3)
project(rslidar_msgs)
find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
add_message_files(
DIRECTORY msg
FILES
rslidarPacket.msg
rslidarScan.msg
rslidarPic.msg
)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
CATKIN_DEPENDS message_runtime std_msgs
)
| 0
|
apollo_public_repos/apollo-contrib/rslidar
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs/package.xml
|
<package>
<name>rslidar_msgs</name>
<version>1.0.0</version>
<description>
ROS message definitions for Robosense 3D LIDARs.
</description>
<maintainer email="tony.zhang@robosense.cn">Tony Zhang</maintainer>
<author>Tony Zhang</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>std_msgs</run_depend>
</package>
| 0
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs/msg/rslidarPic.msg
|
Header header
uint32 col
float32[] distance
float32[] intensity
float32[] azimuthforeachP
| 0
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs/msg/rslidarPacket.msg
|
# Raw LIDAR packet.
time stamp # packet timestamp
uint8[1248] data # packet contents
| 0
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs
|
apollo_public_repos/apollo-contrib/rslidar/rslidar_msgs/msg/rslidarScan.msg
|
# LIDAR scan packets.
Header header # standard ROS message header
rslidarPacket[] packets # vector of raw packets
| 0
|
apollo_public_repos/apollo-contrib
|
apollo_public_repos/apollo-contrib/velodyne_vls/README.md
|
# ros-velodyne-vls128-driver
Repository for Velodyne releases for Baidu
| 0
|
apollo_public_repos/apollo-contrib
|
apollo_public_repos/apollo-contrib/velodyne_vls/COPYING
|
Copyright (C) 2010-2013 Austin Robot Technology, and others
All rights reserved.
All code in this repository is released under the terms of the
following Modified BSD License.
Modified BSD License:
--------------------
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
with the distribution.
* Neither the names of the University of Texas at Austin, nor
Austin Robot Technology, nor the names of other contributors may
be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
| 0
|
apollo_public_repos/apollo-contrib
|
apollo_public_repos/apollo-contrib/velodyne_vls/README.rst
|
Overview
========
Velodyne_ is a collection of ROS_ packages supporting `Velodyne high
definition 3D LIDARs`_.
**Warning**::
The master branch normally contains code being tested for the next
ROS release. It will not always work with every previous release.
The current ``master`` branch works with ROS Kinetic, Jade, and
Indigo. It may work with Hydro and Groovy, but that has not been
tested recently. To build for Fuerte from source, check out the
``rosbuild`` branch instead of ``master``.
.. _ROS: http://www.ros.org
.. _Velodyne: http://www.ros.org/wiki/velodyne
.. _`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/nodelet_velodyne.xml
|
<library path="lib/libdriver_nodelet">
<class name="velodyne_driver/DriverNodelet"
type="velodyne_driver::DriverNodelet"
base_class_type="nodelet::Nodelet">
<description>
Publish raw Velodyne data packets.
</description>
</class>
</library>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/CMakeLists.txt
|
cmake_minimum_required(VERSION 2.8.3)
project(velodyne_driver)
set(${PROJECT_NAME}_CATKIN_DEPS
#diagnostic_updater
dynamic_reconfigure
nodelet
roscpp
tf
velodyne_msgs)
find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS})
# This driver uses Boost threads
find_package(Boost REQUIRED COMPONENTS thread)
# libpcap provides no pkg-config or find_package module:
set(libpcap_LIBRARIES -lpcap)
include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
# Generate dynamic_reconfigure server
generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg)
# objects needed by other ROS packages that depend on this one
catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
INCLUDE_DIRS include
LIBRARIES velodyne_input)
# compile the driver and input library
add_subdirectory(src/lib)
add_subdirectory(src/driver)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES nodelet_velodyne.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(PROGRAMS src/vdump
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
if (CATKIN_ENABLE_TESTING)
# these dependencies are only needed for unit testing
find_package(roslaunch REQUIRED)
find_package(rostest REQUIRED)
# Download packet capture (PCAP) files containing test data.
# Store them in devel-space, so rostest can easily find them.
catkin_download_test_data(
${PROJECT_NAME}_tests_class.pcap
http://download.ros.org/data/velodyne/class.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 65808d25772101358a3719b451b3d015)
catkin_download_test_data(
${PROJECT_NAME}_tests_32e.pcap
http://download.ros.org/data/velodyne/32e.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 e41d02aac34f0967c03a5597e1d554a9)
catkin_download_test_data(
${PROJECT_NAME}_tests_vlp16.pcap
http://download.ros.org/data/velodyne/vlp16.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 f45c2bb1d7ee358274e423ea3b66fd73)
# unit tests
add_rostest(tests/pcap_node_hertz.test)
add_rostest(tests/pcap_nodelet_hertz.test)
add_rostest(tests/pcap_32e_node_hertz.test)
add_rostest(tests/pcap_32e_nodelet_hertz.test)
add_rostest(tests/pcap_vlp16_node_hertz.test)
add_rostest(tests/pcap_vlp16_nodelet_hertz.test)
# parse check all the launch/*.launch files
roslaunch_add_file_check(launch)
endif (CATKIN_ENABLE_TESTING)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/package.xml
|
<package>
<name>velodyne_driver</name>
<version>1.3.0</version>
<description>
ROS device driver for Velodyne 3D LIDARs.
</description>
<maintainer email="jwhitley@autonomoustuff.com">Josh Whitley</maintainer>
<maintainer email="brice.rebsamen@gmail.com">Brice Rebsamen</maintainer>
<author> Jack O'Quin</author>
<author>Patrick Beeson</author>
<author>Michael Quinlan</author>
<author>Yaxin Liu </author>
<license>BSD</license>
<url type="website">http://www.ros.org/wiki/velodyne_driver</url>
<url type="repository">https://github.com/ros-drivers/velodyne</url>
<url type="bugtracker">https://github.com/ros-drivers/velodyne/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>libpcap</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>tf</build_depend>
<build_depend>velodyne_msgs</build_depend>
<!-- these build dependencies are only needed for unit testing -->
<build_depend>roslaunch</build_depend>
<build_depend>rostest</build_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>libpcap</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>tf</run_depend>
<run_depend>velodyne_msgs</run_depend>
<export>
<nodelet plugin="${prefix}/nodelet_velodyne.xml"/>
</export>
</package>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/mainpage.dox
|
/**
\mainpage
\htmlinclude manifest.html
ROS device driver for Velodyne 3D LIDARs.
\section read Velodyne device driver
ROS device driver node that captures Velodyne 3D LIDAR data and
publishes it to the \b velodyne_msgs/VelodyneScan topic.
\subsection read_examples Examples
Read the Velodyne input socket as fast as possible. Publish each
complete revolution to \b velodyne/rawscan.
\verbatim
$ rosrun velodyne_driver velodyne_node
\endverbatim
Read previously captured Velodyne packets from dump.pcap file.
Publish messages to \b velodyne/rawscan at approximately 10 Hz rate.
Dump files can be grabbed by libpcap, Velodyne's DSR software,
ethereal, wireshark, tcpdump, or the velodyne_driver vdump command.
\verbatim
$ rosrun velodyne_driver velodyne_node _pcap:=dump.pcap
\endverbatim
\subsection read_names ROS names
Node name: \b velodyne_node
Publishes: \b velodyne_packets raw Velodyne data packets for one
entire revolution of the device.
Parameters:
- \b ~pcap (string): PCAP dump input file name (default: use real device)
- \b ~input/read_once (bool): if true, read input file only once
(default false).
- \b ~input/read_fast (bool): if true, read input file as fast as
possible (default false).
- \b ~input/repeat_delay (double): number of seconds to delay before
repeating input file (default: 0.0).
\section vdump_command Vdump Command
The vdump command dumps raw data from the Velodyne LIDAR in PCAP
format. It is a shell script wrapper with some obscure options for
the powerful tcpdump command.
Other methods of acquiring PCAP data include using tcpdump directly,
wireshark, Velodyne's DSR software, and programming with libpcap.
\subsection vdump_usage Usage
\verbatim
rosrun velodyne_driver vdump <file_prefix> [ <interface> ]
<file_prefix> file name to dump (with 3-digit number suffix)
<interface> interface to read from (default: "eth1")
\endverbatim
\subsection vdump_examples Examples
Dump Velodyne packets to a series of files named "pcap-000",
"pcap-001", etc. Each file will be about 100MB, holding a little more
than 30 seconds of Velodyne packets. Type ^C when finished.
\verbatim
$ rosrun velodyne_driver vdump pcap- eth0
\endverbatim
*/
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/CHANGELOG.rst
|
Change history
==============
1.3.0 (2017-11-10)
------------------
* Merge pull request `#129 <https://github.com/ros-drivers/velodyne/issues/129>`_ from kmhallen/pluginlib_macro
Modern pluginlib macro
* Update to use non deprecated pluginlib macro
* add launch args to support multiple devices (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
* Merge pull request `#101 <https://github.com/ros-drivers/velodyne/issues/101>`_ from teosnare/master
velodyne_driver/src/lib/input.cc : fix for device_ip filter
* Merge pull request `#104 <https://github.com/ros-drivers/velodyne/issues/104>`_ from altrouge/launch_options
Add more options in launch files.
* Rearranged alphabetically.
* Add more options in launch files.
- rpm, device_ip, port, read_once, read_fast, repeat_delay
* velodyne_driver/src/lib/input.cc : fix for device_ip filter
Fix for device_ip filter in InputSocket: initialization of devip\_ for correct ip filtering in InputSocket::getPacket.
* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 <https://github.com/ros-drivers/velodyne/issues/96>`_)
* Merge pull request `#96 <https://github.com/ros-drivers/velodyne/issues/96>`_ from priyankadey/master
updated VLP-16 packet rate from user manual.
* updated VLP-16 packet rate from user manual.
Also verified with sensor. It reduced overlap in the pointcloud
* update change history
* Merge pull request `#94 <https://github.com/ros-drivers/velodyne/issues/94>`_ from ros-drivers/pcap_port
velodyne_driver: use port number for PCAP data (`#46 <https://github.com/ros-drivers/velodyne/issues/46>`_, `#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
* fix g++ 5.3.1 compile errors (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
* merge current master (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
* Merge pull request `#91 <https://github.com/ros-drivers/velodyne/issues/91>`_ from chukcha2/master
update velodyne_driver package description to include all models
* update velodyne_driver package description to include all models
* Merge pull request `#89 <https://github.com/ros-drivers/velodyne/issues/89>`_ from Tones29/feat_dynrec_driver
Add dynamic latency configuration to velodyne_driver
* velodyne_driver: Add dynamic_reconfigure and time_offset correction
The value of time_offset is added to the calculated time stamp in live mode for each packet.
* velodyne_driver: Make input destructors virtual
* prepare change history for coming Indigo release (`#59 <https://github.com/ros-drivers/velodyne/issues/59>`_)
* velodyne_driver: use port number for PCAP data (`#66 <https://github.com/ros-drivers/velodyne/issues/66>`_)
* Merge pull request `#39 <https://github.com/ros-drivers/velodyne/issues/39>`_ from zooxco/multivelodyne
support for multiple velodynes
* Merge pull request `#44 <https://github.com/ros-drivers/velodyne/issues/44>`_ from SISegwayRmp/master
adding driver and pointcloud support for the VLP16
* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
* adding support for the VLP16
* parameters to set the udp port
* fixed missing header
* cleanup debug line
* parameter and code added for working with multiple velodynes
* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey
1.2.0 (2014-08-06)
------------------
* Fixed bug in diagnostic rate for driver (`#16
<https://github.com/ros-drivers/velodyne/issues/16>`_)
* Contributors: Brice Rebsamen, Jack O'Quin
1.1.2 (2013-11-05)
-------------------
* Move unit test data to download.ros.org (`#18`_).
* Install missing vdump script (`#17`_).
1.1.1 (2013-07-30)
------------------
* Add support for HDL-64E S2 and S2.1 models, which were not working before (`#11`_), thanks to Gabor Meszaros (`#12`_).
* Add additional parameters to launch files (`#14`_).
1.1.0 (2013-07-16)
------------------
* Fix build problems due to PCL 1.7 API incompatibilities (`#8`_),
thanks to William Woodall. This version also works with Groovy, as
long as the correct ``pcl_conversions`` is installed.
* Fix errors with Mac OSX compiler (`#8`_).
* Install ``pluginlib`` XML files (`#9`_).
* Install some launch and parameter files.
* Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_).
1.0.1 (2013-06-15)
------------------
* Declare explicit ``pluginlib`` dependency (`#4`_).
1.0.0 (2013-06-14)
------------------
* Convert to catkin (`#1`_).
* Release to Hydro.
0.9.2 (2013-07-08)
------------------
* Fix Groovy build problem (`#7`_).
0.9.1 (2012-06-05)
------------------
* Driver socket read path improvements.
* Add unit tests with 32E data.
* Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
------------------
* Completely revised API, anticipating a 1.0.0 release.
* HDL-32E device support.
* New velodyne_driver and velodyne_pointcloud packages.
* Old velodyne_common and velodyne_pcl packages no longer included.
* Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
------------------
* Label all timing-dependent tests "realtime" so they do not run by
default on the build farm machines.
0.2.5 (2010-11-19)
------------------
* Initial implementation of new 0.3 interfaces.
* Support for ROS 1.3 `std_msgs::Header` changes.
0.2.0 (2010-08-17)
------------------
* Initial release to ROS C-turtle.
.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/launch/nodelet_manager.launch
|
<!-- -*- mode: XML -*- -->
<!-- start velodyne_driver/DriverNodelet in a nodelet manager -->
<launch>
<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="model" default="64E" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="npackets" default="1507" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- start nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
<!-- load driver nodelet into it -->
<node pkg="nodelet" type="nodelet" name="$(arg manager)_driver"
args="load velodyne_driver/DriverNodelet $(arg manager)" >
<param name="device_ip" value="$(arg device_ip)" />
<param name="frame_id" value="$(arg frame_id)"/>
<param name="model" value="$(arg model)"/>
<param name="pcap" value="$(arg pcap)"/>
<param name="port" value="$(arg port)" />
<param name="npackets" value="$(arg npackets)" />
<param name="read_fast" value="$(arg read_fast)"/>
<param name="read_once" value="$(arg read_once)"/>
<param name="repeat_delay" value="$(arg repeat_delay)"/>
<param name="rpm" value="$(arg rpm)"/>
</node>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/include
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/include/velodyne_driver/input.h
|
/* -*- mode: C++ -*-
*
* Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2015, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
*
* Velodyne 3D LIDAR data input classes
*
* These classes provide raw Velodyne LIDAR input packets from
* either a live socket interface or a previously-saved PCAP dump
* file.
*
* Classes:
*
* velodyne::Input -- base class for accessing the data
* independently of its source
*
* velodyne::InputSocket -- derived class reads live data from the
* device via a UDP socket
*
* velodyne::InputPCAP -- derived class provides a similar interface
* from a PCAP dump file
*/
#ifndef __VELODYNE_INPUT_H
#define __VELODYNE_INPUT_H
#include <unistd.h>
#include <stdio.h>
#include <pcap.h>
#include <netinet/in.h>
#include <ros/ros.h>
#include <velodyne_msgs/VelodynePacket.h>
namespace velodyne_driver
{
static uint16_t DATA_PORT_NUMBER = 2368; // default data port
static uint16_t POSITION_PORT_NUMBER = 8308; // default position port
/** @brief Velodyne input base class */
class Input
{
public:
Input(ros::NodeHandle private_nh, uint16_t port);
virtual ~Input() {}
/** @brief Read one Velodyne packet.
*
* @param pkt points to VelodynePacket message
*
* @returns 0 if successful,
* -1 if end of file
* > 0 if incomplete packet (is this possible?)
*/
virtual int getPacket(velodyne_msgs::VelodynePacket *pkt,
const double time_offset) = 0;
protected:
ros::NodeHandle private_nh_;
uint16_t port_;
std::string devip_str_;
};
/** @brief Live Velodyne input from socket. */
class InputSocket: public Input
{
public:
InputSocket(ros::NodeHandle private_nh,
uint16_t port = DATA_PORT_NUMBER);
virtual ~InputSocket();
virtual int getPacket(velodyne_msgs::VelodynePacket *pkt,
const double time_offset);
void setDeviceIP( const std::string& ip );
private:
private:
int sockfd_;
in_addr devip_;
};
/** @brief Velodyne input from PCAP dump file.
*
* Dump files can be grabbed by libpcap, Velodyne's DSR software,
* ethereal, wireshark, tcpdump, or the \ref vdump_command.
*/
class InputPCAP: public Input
{
public:
InputPCAP(ros::NodeHandle private_nh,
uint16_t port = DATA_PORT_NUMBER,
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(velodyne_msgs::VelodynePacket *pkt,
const double time_offset);
void setDeviceIP( const std::string& ip );
private:
ros::Rate 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_;
};
} // velodyne_driver namespace
#endif // __VELODYNE_INPUT_H
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/include
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/include/velodyne_driver/ring_sequence.h
|
/* -*- mode: C++ -*-
*
* Copyright (C) 2010 Austin Robot Technology, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* Velodyne HDL-64E 3D LIDAR laser ring sequence.
*
* \author Jack O'Quin
*/
#ifndef __VELODYNE_RING_SEQUENCE_H
#define __VELODYNE_RING_SEQUENCE_H
namespace velodyne
{
/// number of lasers
const int N_LASERS = 64;
/// ring sequence for device laser numbers
const int LASER_SEQUENCE[N_LASERS] =
{
6, 7, 10, 11, 0, 1, 4, 5,
8, 9, 14, 15, 18, 19, 22, 23,
12, 13, 16, 17, 20, 21, 26, 27,
30, 31, 2, 3, 24, 25, 28, 29,
38, 39, 42, 43, 32, 33, 36, 37,
40, 41, 46, 47, 50, 51, 54, 55,
44, 45, 48, 49, 52, 53, 58, 59,
62, 63, 34, 35, 56, 57, 60, 61
};
/// convert laser number to ring sequence (inverse of LASER_SEQUENCE)
const int LASER_RING[N_LASERS] =
{
4, 5, 26, 27, 6, 7, 0, 1,
8, 9, 2, 3, 16, 17, 10, 11,
18, 19, 12, 13, 20, 21, 14, 15,
28, 29, 22, 23, 30, 31, 24, 25,
36, 37, 58, 59, 38, 39, 32, 33,
40, 41, 34, 35, 48, 49, 42, 43,
50, 51, 44, 45, 52, 53, 46, 47,
60, 61, 54, 55, 62, 63, 56, 57
};
} // velodyne namespace
#endif // __VELODYNE_RING_SEQUENCE_H
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_node_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 64E PCAP files -->
<launch>
<!-- start read with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="pcap" value="$(find velodyne_driver)/tests/class.pcap"/>
</node>
<test test-name="pcap_node_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_node_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="node_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_node_64e">
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_vlp16_node_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne VLP16 PCAP data -->
<launch>
<!-- start read with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="model" value="VLP16"/>
<param name="pcap" value="$(find velodyne_driver)/tests/vlp16.pcap"/>
</node>
<test test-name="pcap_vlp16_node_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_node_vlp16" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="node_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_node_vlp16">
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from VLP16 PCAP data. -->
<launch>
<!-- start nodelet manager, driver and pointcloud nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(find velodyne_driver)/tests/vlp16.pcap"/>
</include>
<!-- verify PointCloud publication rate -->
<test test-name="pcap_vlp16_nodelet_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_nodelet_vlp16" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="nodelet_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_nodelet_vlp16" >
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/diagnostic_agg.yaml
|
## Diagnostic aggregator parameters for testing Velodyne diagnostics.
#
# $ rosparam load $(rospack find velodyne_driver)/tests/diagnostic_agg.yaml
# $ rosrun diagnostic_aggregator aggregator_node
#
diagnostic_aggregator:
analyzers:
sensors:
type: diagnostic_aggregator/AnalyzerGroup
path: Sensors
analyzers:
velodyne:
type: diagnostic_aggregator/GenericAnalyzer
path: Velodyne HDL
timeout: 5.0
find_and_remove_prefix: velodyne_nodelet_manager
num_items: 1
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_32e_nodelet_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from 32E PCAP data. -->
<launch>
<!-- start nodelet manager, driver and pointcloud nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="32E"/>
<arg name="pcap" value="$(find velodyne_driver)/tests/32e.pcap"/>
</include>
<!-- verify PointCloud publication rate -->
<test test-name="pcap_32e_nodelet_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_nodelet_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="nodelet_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_nodelet_32e" >
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_32e_node_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 32E PCAP data -->
<launch>
<!-- start read with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="model" value="32E"/>
<param name="pcap" value="$(find velodyne_driver)/tests/32e.pcap"/>
</node>
<test test-name="pcap_32e_node_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_node_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="node_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_node_32e">
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/tests/pcap_nodelet_hertz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from 64E PCAP data. -->
<launch>
<!-- start nodelet manager, driver and pointcloud nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="pcap" value="$(find velodyne_driver)/tests/class.pcap"/>
</include>
<!-- verify PointCloud publication rate -->
<test test-name="pcap_nodelet_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_nodelet_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="nodelet_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_nodelet_64e" >
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/cfg/VelodyneNode.cfg
|
#!/usr/bin/env python
PACKAGE = "velodyne_driver"
NODE_NAME = "velodyne_node"
PARAMS_NAME = "VelodyneNode"
from math import pi
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("time_offset", double_t, 0, "A manually calibrated offset (in seconds) to add to the timestamp before publication of a message.",
0.0, -1.0, 1.0)
exit(gen.generate(PACKAGE, NODE_NAME, PARAMS_NAME))
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/vdump
|
#!/bin/bash
# dump velodyne packets
# $Id: vdump 8892 2009-10-24 15:13:57Z joq $
if [ x$1 = x ]
then echo -e "usage:\t`basename $0` file-prefix [ interface ]"
echo -e "\n\tfile-prefix is completed with a three-digit number"
echo -e "\tinterface default is 'eth0'\n"
exit 9
fi
IF=${2:-eth0}
ID=`id -un`
echo "acquiring packets on $IF for user $ID; press ^C when done"
sudo /usr/sbin/tcpdump -i $IF -Z $ID -s 0 -C 100 -W 999 -w $1
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/driver/driver.cc
|
/*
* Copyright (C) 2007 Austin Robot Technology, Patrick Beeson
* Copyright (C) 2009-2012 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2017, Velodyne LiDAR INC., Algorithms and Signal Processing
* Group
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* ROS driver implementation for the Velodyne 3D LIDARs
*/
#include <math.h>
#include <ros/ros.h>
#include <stdio.h>
#include <tf/transform_listener.h>
#include <time.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <cmath>
#include <string>
#include "driver.h"
namespace velodyne_driver {
std::string toBinary(int n) {
std::string r;
while (n != 0) {
r = (n % 2 == 0 ? "0" : "1") + r;
n /= 2;
}
while (r.length() != 8) {
r = '0' + r;
}
return r;
}
double convertBinaryToDecimal(std::string binaryString) {
double value = 0;
int indexCounter = 0;
for (int i = binaryString.length() - 1; i >= 0; i--) {
if (binaryString[i] == '1') {
value += pow(2, indexCounter);
}
indexCounter++;
}
return value;
}
double computeTimeStamp(velodyne_msgs::VelodyneScanPtr scan, int index) {
std::string digit4 = toBinary(scan->packets[index].data[1203]);
std::string digit3 = toBinary(scan->packets[index].data[1202]);
std::string digit2 = toBinary(scan->packets[index].data[1201]);
std::string digit1 = toBinary(scan->packets[index].data[1200]);
std::string digit =
digit4 + digit3 + digit2 + digit1; // string concatenation
double value = convertBinaryToDecimal(digit);
// compute the seconds from the beginning of that hour to when the data being
// captured
double time_stamp = (double)value / 1000000;
return time_stamp;
}
VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
ros::NodeHandle private_nh) {
// use private node handle to get parameters
private_nh.param("frame_id", config_.frame_id, std::string("velodyne"));
std::string tf_prefix = tf::getPrefixParam(private_nh);
ROS_DEBUG_STREAM("tf_prefix: " << tf_prefix);
config_.frame_id = tf::resolve(tf_prefix, config_.frame_id);
// get model name, validate string, determine packet rate
private_nh.param("model", config_.model, std::string("VLS128"));
double packet_rate; // packet frequency (Hz)
std::string model_full_name;
if ((config_.model == "64E_S2") ||
(config_.model == "64E_S2.1")) // generates 1333312 points per second
{ // 1 packet holds 384 points
packet_rate = 3472.17; // 1333312 / 384
model_full_name = std::string("HDL-") + config_.model;
} else if (config_.model == "64E") {
packet_rate = 2600.0;
model_full_name = std::string("HDL-") + config_.model;
} else if (config_.model == "32E") {
packet_rate = 1808.0;
model_full_name = std::string("HDL-") + config_.model;
} else if (config_.model == "VLP32C") {
packet_rate = 1507; // 12 groups of 32 firings where a pair of 2 firings
// corresponds to 55.296us -> 1/(12*55.296us)
model_full_name = "VLP-32C";
} else if (config_.model == "VLS128") {
packet_rate = 1507; // 3 groups of 128 firings where a set of 8 firings
// corresponds to 55.296us -> 1/(12*55.296us)
model_full_name = "VLS-128";
} else if (config_.model == "VLP16") {
packet_rate = 754; // 754 Packets/Second for Last or Strongest mode 1508
// for dual (VLP-16 User Manual)
model_full_name = "VLP-16";
} else {
ROS_ERROR_STREAM("unknown Velodyne LIDAR model: " << config_.model);
packet_rate = 2600.0;
}
std::string deviceName(std::string("Velodyne ") + model_full_name);
private_nh.param("rpm", config_.rpm, 600.0);
ROS_INFO_STREAM(deviceName << " rotating at " << config_.rpm << " RPM");
double frequency = (config_.rpm / 60.0); // expected Hz rate
// default number of packets for each scan is a single revolution
// (fractions rounded up)
config_.npackets = (int)ceil(packet_rate / frequency);
private_nh.getParam("npackets", config_.npackets);
ROS_INFO_STREAM("publishing " << config_.npackets << " packets per scan");
std::string dump_file;
private_nh.param("pcap", dump_file, std::string(""));
int udp_port;
private_nh.param("port", udp_port, (int)DATA_PORT_NUMBER);
// Initialize dynamic reconfigure
srv_ = boost::make_shared<
dynamic_reconfigure::Server<velodyne_driver::VelodyneNodeConfig> >(
private_nh);
dynamic_reconfigure::Server<velodyne_driver::VelodyneNodeConfig>::CallbackType
f;
f = boost::bind(&VelodyneDriver::callback, this, _1, _2);
srv_->setCallback(f); // Set callback function und call initially
/*
// initialize diagnostics
diagnostics_.setHardwareID(deviceName);
const double diag_freq = packet_rate / config_.npackets;
diag_max_freq_ = diag_freq;
diag_min_freq_ = diag_freq;
ROS_INFO("expected frequency: %.3f (Hz)", diag_freq);
using namespace diagnostic_updater;
diag_topic_.reset(new TopicDiagnostic(
"velodyne_packets", diagnostics_,
FrequencyStatusParam(&diag_min_freq_, &diag_max_freq_, 0.1, 10),
TimeStampStatusParam()));
*/
// open Velodyne input device or file
if (dump_file != "") // have PCAP file?
{
// read data from packet capture file
input_.reset(new velodyne_driver::InputPCAP(private_nh, udp_port,
packet_rate, dump_file));
} else {
// read data from live socket
input_.reset(new velodyne_driver::InputSocket(private_nh, udp_port));
}
// raw packet output topic
output_ = node.advertise<velodyne_msgs::VelodyneScan>("velodyne_packets", 10);
}
/** poll the device
*
* @returns true unless end of file reached
*/
bool VelodyneDriver::poll(void) {
// Allocate a new shared pointer for zero-copy sharing with other nodelets.
velodyne_msgs::VelodyneScanPtr scan(new velodyne_msgs::VelodyneScan);
scan->packets.resize(config_.npackets);
// Since the velodyne delivers data at a very high rate, keep
// reading and publishing scans as fast as possible.
for (int i = 0; i < config_.npackets; ++i) {
while (true) {
// keep reading until full packet received
int rc = input_->getPacket(&scan->packets[i], config_.time_offset);
if (rc == 0) break; // got a full packet?
if (rc < 0) return false; // end of file reached?
}
}
// average the time stamp from first package and last package
double firstTimeStamp = computeTimeStamp(scan, 0);
double lastTimeStamp = computeTimeStamp(scan, config_.npackets - 1);
double meanTimeStamp = (firstTimeStamp + lastTimeStamp) / 2;
// std::cerr << " Velodyne Driver Timestamp first packet= " << firstTimeStamp
// << std::endl;
// std::cerr << " Velodyne Driver Timestamp last packet= " << lastTimeStamp <<
// std::endl;
time_t seconds;
seconds = time(NULL);
int gpsSeconds = ((int)(seconds / 3600)) * 3600 + floor(meanTimeStamp);
int nanSecs = (meanTimeStamp - floor(meanTimeStamp)) * pow(10, 9);
scan->header.stamp = ros::Time(gpsSeconds, nanSecs);
// std::cerr<< scan->header.stamp << std::endl;
// publish message using time of last packet read
ROS_DEBUG("Publishing a full Velodyne scan.");
scan->header.frame_id = config_.frame_id;
output_.publish(scan);
/*
// notify diagnostics that a message has been published, updating
// its status
diag_topic_->tick(scan->header.stamp);
diagnostics_.update();
*/
return true;
}
void VelodyneDriver::callback(velodyne_driver::VelodyneNodeConfig &config,
uint32_t level) {
ROS_INFO("Reconfigure Request");
config_.time_offset = config.time_offset;
}
} // namespace velodyne_driver
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/driver/CMakeLists.txt
|
# build the driver node
add_executable(velodyne_node velodyne_node.cc driver.cc)
add_dependencies(velodyne_node velodyne_driver_gencfg)
target_link_libraries(velodyne_node
velodyne_input
${catkin_LIBRARIES}
${libpcap_LIBRARIES}
)
# build the nodelet version
add_library(driver_nodelet nodelet.cc driver.cc)
add_dependencies(driver_nodelet velodyne_driver_gencfg)
target_link_libraries(driver_nodelet
velodyne_input
${catkin_LIBRARIES}
${libpcap_LIBRARIES}
)
# install runtime files
install(TARGETS velodyne_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
COMPONENT main
)
install(TARGETS driver_nodelet
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/driver/driver.h
|
/* -*- mode: C++ -*- */
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* ROS driver interface for the Velodyne 3D LIDARs
*/
#ifndef _VELODYNE_DRIVER_H_
#define _VELODYNE_DRIVER_H_ 1
#include <string>
//#include <diagnostic_updater/diagnostic_updater.h>
//#include <diagnostic_updater/publisher.h>
#include <dynamic_reconfigure/server.h>
#include <ros/ros.h>
#include <velodyne_driver/VelodyneNodeConfig.h>
#include <velodyne_driver/input.h>
namespace velodyne_driver {
class VelodyneDriver {
public:
VelodyneDriver(ros::NodeHandle node, ros::NodeHandle private_nh);
~VelodyneDriver() {}
bool poll(void);
private:
/// Callback for dynamic reconfigure
void callback(velodyne_driver::VelodyneNodeConfig &config, uint32_t level);
/// Pointer to dynamic reconfigure service srv_
boost::shared_ptr<
dynamic_reconfigure::Server<velodyne_driver::VelodyneNodeConfig> >
srv_;
// configuration parameters
struct {
std::string frame_id; ///< tf frame ID
std::string model; ///< device model name
int npackets; ///< number of packets to collect
double rpm; ///< device rotation rate (RPMs)
double time_offset; ///< time in seconds added to each velodyne time stamp
} config_;
boost::shared_ptr<Input> input_;
ros::Publisher output_;
/** diagnostics updater */
/*
diagnostic_updater::Updater diagnostics_;
double diag_min_freq_;
double diag_max_freq_;
boost::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
*/
};
} // namespace velodyne_driver
#endif // _VELODYNE_DRIVER_H_
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/driver/velodyne_node.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* ROS driver node for the Velodyne 3D LIDARs.
*/
#include <ros/ros.h>
#include "driver.h"
int main(int argc, char** argv)
{
ros::init(argc, argv, "velodyne_node");
ros::NodeHandle node;
ros::NodeHandle private_nh("~");
// start the driver
velodyne_driver::VelodyneDriver dvr(node, private_nh);
// loop until shut down or end of file
while(ros::ok() && dvr.poll())
{
ros::spinOnce();
}
return 0;
}
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apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/driver/nodelet.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* ROS driver nodelet for the Velodyne 3D LIDARs
*/
#include <string>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include "driver.h"
namespace velodyne_driver
{
class DriverNodelet: public nodelet::Nodelet
{
public:
DriverNodelet():
running_(false)
{}
~DriverNodelet()
{
if (running_)
{
NODELET_INFO("shutting down driver thread");
running_ = false;
deviceThread_->join();
NODELET_INFO("driver thread stopped");
}
}
private:
virtual void onInit(void);
virtual void devicePoll(void);
volatile bool running_; ///< device thread is running
boost::shared_ptr<boost::thread> deviceThread_;
boost::shared_ptr<VelodyneDriver> dvr_; ///< driver implementation class
};
void DriverNodelet::onInit()
{
// start the driver
dvr_.reset(new VelodyneDriver(getNodeHandle(), getPrivateNodeHandle()));
// spawn device poll thread
running_ = true;
deviceThread_ = boost::shared_ptr< boost::thread >
(new boost::thread(boost::bind(&DriverNodelet::devicePoll, this)));
}
/** @brief Device poll thread main loop. */
void DriverNodelet::devicePoll()
{
while(ros::ok())
{
// poll device until end of file
running_ = dvr_->poll();
if (!running_)
break;
}
running_ = false;
}
} // namespace velodyne_driver
// Register this plugin with pluginlib. Names must match nodelet_velodyne.xml.
//
// parameters are: class type, base class type
PLUGINLIB_EXPORT_CLASS(velodyne_driver::DriverNodelet, nodelet::Nodelet)
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apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/lib/CMakeLists.txt
|
add_library(velodyne_input input.cc)
target_link_libraries(velodyne_input
${catkin_LIBRARIES}
${libpcap_LIBRARIES}
)
if(catkin_EXPORTED_TARGETS)
add_dependencies(velodyne_input ${catkin_EXPORTED_TARGETS})
endif()
install(TARGETS velodyne_input
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
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apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_driver/src/lib/input.cc
|
/*
* Copyright (C) 2007 Austin Robot Technology, Patrick Beeson
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2015, Jack O'Quin
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
*
* Input classes for the Velodyne HDL-64E 3D LIDAR:
*
* Input -- base class used to access the data independently of
* its source
*
* InputSocket -- derived class reads live data from the device
* via a UDP socket
*
* InputPCAP -- derived class provides a similar interface from a
* PCAP dump
*/
#include <unistd.h>
#include <string>
#include <sstream>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <poll.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/file.h>
#include <velodyne_driver/input.h>
namespace velodyne_driver
{
static const size_t packet_size =
sizeof(velodyne_msgs::VelodynePacket().data);
////////////////////////////////////////////////////////////////////////
// Input base class implementation
////////////////////////////////////////////////////////////////////////
/** @brief constructor
*
* @param private_nh ROS private handle for calling node.
* @param port UDP port number.
*/
Input::Input(ros::NodeHandle private_nh, uint16_t port):
private_nh_(private_nh),
port_(port)
{
private_nh.param("device_ip", devip_str_, std::string(""));
if (!devip_str_.empty())
ROS_INFO_STREAM("Only accepting packets from IP address: "
<< devip_str_);
}
////////////////////////////////////////////////////////////////////////
// InputSocket class implementation
////////////////////////////////////////////////////////////////////////
/** @brief constructor
*
* @param private_nh ROS private handle for calling node.
* @param port UDP port number
*/
InputSocket::InputSocket(ros::NodeHandle private_nh, uint16_t port):
Input(private_nh, port)
{
sockfd_ = -1;
if (!devip_str_.empty()) {
inet_aton(devip_str_.c_str(),&devip_);
}
// connect to Velodyne UDP port
ROS_INFO_STREAM("Opening UDP socket: port " << port);
sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);
if (sockfd_ == -1)
{
perror("socket"); // TODO: ROS_ERROR errno
return;
}
sockaddr_in my_addr; // my address information
memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros
my_addr.sin_family = AF_INET; // host byte order
my_addr.sin_port = htons(port); // port in network byte order
my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP
if (bind(sockfd_, (sockaddr *)&my_addr, sizeof(sockaddr)) == -1)
{
perror("bind"); // TODO: ROS_ERROR errno
return;
}
if (fcntl(sockfd_,F_SETFL, O_NONBLOCK|FASYNC) < 0)
{
perror("non-block");
return;
}
ROS_DEBUG("Velodyne socket fd is %d\n", sockfd_);
}
/** @brief destructor */
InputSocket::~InputSocket(void)
{
(void) close(sockfd_);
}
/** @brief Get one velodyne packet. */
int InputSocket::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset)
{
double time1 = ros::Time::now().toSec();
struct pollfd fds[1];
fds[0].fd = sockfd_;
fds[0].events = POLLIN;
static const int POLL_TIMEOUT = 1000; // one second (in msec)
sockaddr_in sender_address;
socklen_t sender_address_len = sizeof(sender_address);
while (true)
{
// Unfortunately, the Linux kernel recvfrom() implementation
// uses a non-interruptible sleep() when waiting for data,
// which would cause this method to hang if the device is not
// providing data. We poll() the device first to make sure
// the recvfrom() will not block.
//
// Note, however, that there is a known Linux kernel bug:
//
// Under Linux, select() may report a socket file descriptor
// as "ready for reading", while nevertheless a subsequent
// read blocks. This could for example happen when data has
// arrived but upon examination has wrong checksum and is
// discarded. There may be other circumstances in which a
// file descriptor is spuriously reported as ready. Thus it
// may be safer to use O_NONBLOCK on sockets that should not
// block.
// poll() until input available
do
{
int retval = poll(fds, 1, POLL_TIMEOUT);
if (retval < 0) // poll() error?
{
if (errno != EINTR)
ROS_ERROR("poll() error: %s", strerror(errno));
return 1;
}
if (retval == 0) // poll() timeout?
{
ROS_WARN("Velodyne poll() timeout");
return 1;
}
if ((fds[0].revents & POLLERR)
|| (fds[0].revents & POLLHUP)
|| (fds[0].revents & POLLNVAL)) // device error?
{
ROS_ERROR("poll() reports Velodyne error");
return 1;
}
} while ((fds[0].revents & POLLIN) == 0);
// Receive packets that should now be available from the
// socket using a blocking read.
ssize_t nbytes = recvfrom(sockfd_, &pkt->data[0],
packet_size, 0,
(sockaddr*) &sender_address,
&sender_address_len);
if (nbytes < 0)
{
if (errno != EWOULDBLOCK)
{
perror("recvfail");
ROS_INFO("recvfail");
return 1;
}
}
else if ((size_t) nbytes == packet_size)
{
// read successful,
// if packet is not from the lidar scanner we selected by IP,
// continue otherwise we are done
if(devip_str_ != ""
&& sender_address.sin_addr.s_addr != devip_.s_addr)
continue;
else
break; //done
}
ROS_DEBUG_STREAM("incomplete Velodyne packet read: "
<< nbytes << " bytes");
}
// Average the times at which we begin and end reading. Use that to
// estimate when the scan occurred. Add the time offset.
double time2 = ros::Time::now().toSec();
pkt->stamp = ros::Time((time2 + time1) / 2.0 + time_offset);
return 0;
}
////////////////////////////////////////////////////////////////////////
// InputPCAP class implementation
////////////////////////////////////////////////////////////////////////
/** @brief constructor
*
* @param private_nh ROS private handle for calling node.
* @param port UDP port number
* @param packet_rate expected device packet frequency (Hz)
* @param filename PCAP dump file name
*/
InputPCAP::InputPCAP(ros::NodeHandle private_nh, uint16_t port,
double packet_rate, std::string filename,
bool read_once, bool read_fast, double repeat_delay):
Input(private_nh, port),
packet_rate_(packet_rate),
filename_(filename)
{
pcap_ = NULL;
empty_ = true;
// get parameters using private node handle
private_nh.param("read_once", read_once_, false);
private_nh.param("read_fast", read_fast_, false);
private_nh.param("repeat_delay", repeat_delay_, 0.0);
if (read_once_)
ROS_INFO("Read input file only once.");
if (read_fast_)
ROS_INFO("Read input file as quickly as possible.");
if (repeat_delay_ > 0.0)
ROS_INFO("Delay %.3f seconds before repeating input file.",
repeat_delay_);
// Open the PCAP dump file
ROS_INFO("Opening PCAP file \"%s\"", filename_.c_str());
if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_) ) == NULL)
{
ROS_FATAL("Error opening Velodyne socket dump file.");
return;
}
std::stringstream filter;
if( devip_str_ != "" ) // using specific IP?
{
filter << "src host " << devip_str_ << " && ";
}
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 velodyne packet. */
int InputPCAP::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset)
{
struct pcap_pkthdr *header;
const u_char *pkt_data;
while (true)
{
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 (!devip_str_.empty() &&
(0 == pcap_offline_filter(&pcap_packet_filter_,
header, pkt_data)))
continue;
// Keep the reader from blowing through the file.
if (read_fast_ == false)
packet_rate_.sleep();
memcpy(&pkt->data[0], pkt_data+42, packet_size);
pkt->stamp = ros::Time::now(); // time_offset not considered here, as no synchronization required
empty_ = false;
return 0; // success
}
if (empty_) // no data in file?
{
ROS_WARN("Error %d reading Velodyne packet: %s",
res, pcap_geterr(pcap_));
return -1;
}
if (read_once_)
{
ROS_INFO("end of file reached -- done reading.");
return -1;
}
if (repeat_delay_ > 0.0)
{
ROS_INFO("end of file reached -- delaying %.3f seconds.",
repeat_delay_);
usleep(rint(repeat_delay_ * 1000000.0));
}
ROS_DEBUG("replaying Velodyne 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
}
} // velodyne_driver namespace
| 0
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/CMakeLists.txt
|
cmake_minimum_required(VERSION 2.8.3)
project(velodyne_pointcloud)
set(${PROJECT_NAME}_CATKIN_DEPS
angles
nodelet
pcl_ros
roscpp
roslib
sensor_msgs
tf
velodyne_driver
velodyne_msgs
dynamic_reconfigure
)
find_package(catkin REQUIRED COMPONENTS
${${PROJECT_NAME}_CATKIN_DEPS} pcl_conversions)
find_package(Boost COMPONENTS signals)
# Resolve system dependency on yaml-cpp, which apparently does not
# provide a CMake find_package() module.
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(YAML_CPP_INCLUDE_DIR
NAMES yaml_cpp.h
PATHS ${YAML_CPP_INCLUDE_DIRS})
find_library(YAML_CPP_LIBRARY
NAMES YAML_CPP
PATHS ${YAML_CPP_LIBRARY_DIRS})
link_directories(${YAML_CPP_LIBRARY_DIRS})
generate_dynamic_reconfigure_options(
cfg/CloudNode.cfg cfg/TransformNode.cfg
)
if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
include_directories(include ${catkin_INCLUDE_DIRS}
${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
)
catkin_package(
CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
INCLUDE_DIRS include
LIBRARIES velodyne_rawdata)
#add_executable(dynamic_reconfigure_node src/dynamic_reconfigure_node.cpp)
#target_link_libraries(dynamic_reconfigure_node
# ${catkin_LIBRARIES}
# )
add_subdirectory(src/lib)
add_subdirectory(src/conversions)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY params/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
install(PROGRAMS scripts/gen_calibration.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
if (CATKIN_ENABLE_TESTING)
add_subdirectory(tests)
endif()
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/package.xml
|
<package>
<name>velodyne_pointcloud</name>
<version>1.3.0</version>
<description>
Point cloud conversions for Velodyne 3D LIDARs.
</description>
<maintainer email="jwhitley@autonomoustuff.com">Josh Whitley</maintainer>
<author>Jack O'Quin</author>
<author>Piyush Khandelwal</author>
<author>Jesse Vera</author>
<license>BSD</license>
<url type="website">http://ros.org/wiki/velodyne_pointcloud</url>
<url type="repository">https://github.com/ros-drivers/velodyne</url>
<url type="bugtracker">https://github.com/ros-drivers/velodyne/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>angles</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>roslib</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>velodyne_driver</build_depend>
<build_depend>velodyne_msgs</build_depend>
<build_depend>yaml-cpp</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<!-- these build dependencies are only needed for unit testing -->
<build_depend>roslaunch</build_depend>
<build_depend>rostest</build_depend>
<build_depend>tf2_ros</build_depend>
<run_depend>angles</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>python-yaml</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>roslib</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>velodyne_driver</run_depend>
<run_depend>velodyne_msgs</run_depend>
<run_depend>yaml-cpp</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>velodyne_laserscan</run_depend>
<export>
<nodelet plugin="${prefix}/nodelets.xml"/>
</export>
</package>
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/mainpage.dox
|
/**
\mainpage
\htmlinclude manifest.html
Nodes and nodelets for converting raw Velodyne 3D LIDAR data to point
clouds.
*/
| 0
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/nodelets.xml
|
<library path="lib/libcloud_nodelet">
<class name="velodyne_pointcloud/CloudNodelet"
type="velodyne_pointcloud::CloudNodelet"
base_class_type="nodelet::Nodelet">
<description>
Aggregates points from multiple packets, publishing PointCloud2.
</description>
</class>
</library>
<library path="lib/libringcolors_nodelet">
<class name="velodyne_pointcloud/RingColorsNodelet"
type="velodyne_pointcloud::RingColorsNodelet"
base_class_type="nodelet::Nodelet">
<description>
Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors
for visualization of the laser rings.
</description>
</class>
</library>
<library path="lib/libtransform_nodelet">
<class name="velodyne_pointcloud/TransformNodelet"
type="velodyne_pointcloud::TransformNodelet"
base_class_type="nodelet::Nodelet">
<description>
Transforms packets into /odom frame, publishing multiple packets
as PointCloud2.
</description>
</class>
</library>
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/CHANGELOG.rst
|
Change history
==============
1.3.0 (2017-11-10)
-------------------
* Merge pull request `#110 <https://github.com/ros-drivers/velodyne/issues/110>`_ from kmhallen/master
Added velodyne_laserscan package
* Merge remote-tracking branch ros-drivers/master
* Merge pull request `#129 <https://github.com/ros-drivers/velodyne/issues/129>`_ from kmhallen/pluginlib_macro
Modern pluginlib macro
* Update to use non deprecated pluginlib macro
* Merge pull request `#127 <https://github.com/ros-drivers/velodyne/issues/127>`_ from swri-robotics/add_vlp16_hires_support
Add VLP16 Puck Hi-Res config file
* Add VLP16 Puck Hi-Res support
* velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (`#93 <https://github.com/ros-drivers/velodyne/issues/93>`_)
This eliminates a CMake warning when building on Xenial.
* Merge pull request `#111 <https://github.com/ros-drivers/velodyne/issues/111>`_ from OrebroUniversity/master
Added an interface to set up raw data processing offline
* Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
* Added velodyne_laserscan package and inserted into existing launch files
* test multiple nodelet manager support (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
* add launch args to support multiple devices (`#108 <https://github.com/ros-drivers/velodyne/issues/108>`_)
* Merge pull request `#105 <https://github.com/ros-drivers/velodyne/issues/105>`_ from fudger/patch-1
Remove unused constants.
* Merge pull request `#104 <https://github.com/ros-drivers/velodyne/issues/104>`_ from altrouge/launch_options
Add more options in launch files.
* Rearranged alphabetically.
* Remove unused constants.
DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code.
Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
* Merge pull request `#103 <https://github.com/ros-drivers/velodyne/issues/103>`_ from fudger/patch-1
Fix misleading typecasts.
* Add more options in launch files.
- rpm, device_ip, port, read_once, read_fast, repeat_delay
* Fix misleading typecasts.
intensity and VPoint::intensity are both of type float.
* update change history
* merge current master (`#94 <https://github.com/ros-drivers/velodyne/issues/94>`_)
* Merge pull request `#92 <https://github.com/ros-drivers/velodyne/issues/92>`_ from adasta/master
GCC Build Warnings
* Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning
that last_azimuth_diff variable may be used uninitialized. Variable
is now initialized to 0 at creation.
velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: ‘last_azimuth_diff’ may be used uninitialized in this function [-Werror=maybe-uninitialized]
azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
* Modified velodyne_pointcloud/src/conversion/colors.cc to remove
address build warning for strict-aliasing.
velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
* Merge pull request `#89 <https://github.com/ros-drivers/velodyne/issues/89>`_ from Tones29/feat_dynrec_driver
Add dynamic latency configuration to velodyne_driver
* velodyne_pointcloud: Fix compile warning "Wrong initialization order"
* velodyne_pointcloud: add dynamic reconfig update to change log (`#78 <https://github.com/ros-drivers/velodyne/issues/78>`_)
* Merge branch fudger-reconfigure_transform_node
* velodyne_pointcloud: use recommended add_dependencies() CMake variable `#78 <https://github.com/ros-drivers/velodyne/issues/78>`_
* velodyne_pointcloud: fix transform unit tests
Use tf2_ros static_transform_publisher for more consistent timing (`#2 <https://github.com/ros-drivers/velodyne/issues/2>`_)
* Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
* prepare change history for coming Indigo release (`#59 <https://github.com/ros-drivers/velodyne/issues/59>`_)
* calibration: unit test case improvements (`#84 <https://github.com/ros-drivers/velodyne/issues/84>`_)
* calibration: read all intensities as float, then convert (`#84 <https://github.com/ros-drivers/velodyne/issues/84>`_)
* calibration: add gtest for `#84 <https://github.com/ros-drivers/velodyne/issues/84>`_
This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
* calibration: make max_intensity and min_intensity optional (`#84 <https://github.com/ros-drivers/velodyne/issues/84>`_)
This fixes a regression in the 32e and VLP-16 calibrations which do not contain
intensity values. There is still a problem with the 64e_s2.1 calibration.
* Merge pull request `#76 <https://github.com/ros-drivers/velodyne/issues/76>`_ from pomerlef/master
Sign inversion in some equations
* Merge pull request `#82 <https://github.com/ros-drivers/velodyne/issues/82>`_ from ros-drivers/fix_pr_80
Fix pr 80; adding travis CI tests.
* fix the yaml-cpp 0.5 code paths
* Merge pull request `#80 <https://github.com/ros-drivers/velodyne/issues/80>`_ from ros-drivers/fix_yaml_import
allow floats in min/max_intensity and make horiz_offset_correction optional
* allow horiz_offset_correction to be optional with 0 as default
* allow floats instead of ints in min/max_intensity
* Resolve frame ID name using tf prefix.
* Improve coding style.
* Set up dynamic reconfiguration for transform_node.
Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud.
Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
* Merge pull request `#77 <https://github.com/ros-drivers/velodyne/issues/77>`_ from fudger/pretty_print
Fix output of calibration data onto console
* Add a missing space.
* Fix line that always indicates use of model VLP-16.
* Align console output of calibration data.
* Merge branch master of https://github.com/ros-drivers/velodyne
* resolve sign error
* Merge pull request `#73 <https://github.com/ros-drivers/velodyne/issues/73>`_ from fudger/master
Correct important data type error for VLP-16
* Fix data type error that distorts the point cloud.
* Fix and add a few comments.
* Merge pull request `#68 <https://github.com/ros-drivers/velodyne/issues/68>`_ from jlblancoc/patch-1
Remove unused variable
* Remove unused variable
I think that `dsr` was unused. See line 317:
for (int dsr=0; ...
* VLP-16: skip badly formatted data packets (`#62 <https://github.com/ros-drivers/velodyne/issues/62>`_, `#63 <https://github.com/ros-drivers/velodyne/issues/63>`_)
* restore VLP-16 min_range setting to 0.4 (`#60 <https://github.com/ros-drivers/velodyne/issues/60>`_)
NOTE: There is still some other problem keeping that from working.
* permit min_range settings below 0.9 meters (`#60 <https://github.com/ros-drivers/velodyne/issues/60>`_)
No known models are currently known to return closer measurements.
* Merge pull request `#55 <https://github.com/ros-drivers/velodyne/issues/55>`_ from lemiant/azimuth_bug_VLP16
Fixed azimuth overflow bug.
* Fixed azimuth overflow bug.
For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod())
yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays,
since they only go form 0..35999
* Merge pull request `#51 <https://github.com/ros-drivers/velodyne/issues/51>`_ from kunlileo/master
Added vertical sin angle correction
* Added vertical sin angle correction
* Merge pull request `#47 <https://github.com/ros-drivers/velodyne/issues/47>`_ from prclibo/master
fixed rounding bug in intensity calculation found by songshiyu
* fixed rounding bug in intensity calculation found by songshiyu
* fix some overly long C++ source lines
* Merge pull request `#44 <https://github.com/ros-drivers/velodyne/issues/44>`_ from SISegwayRmp/master
adding driver and pointcloud support for the VLP16
* missed the space in the file name which caused the build to fail, removed space before extension
* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
* adding support for the VLP16
* Merge pull request `#43 <https://github.com/ros-drivers/velodyne/issues/43>`_ from prclibo/fix_rawdata
fixed point computation according to the 64e_s2(.1) velodyne manual
* fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei"s help
* Merge pull request `#41 <https://github.com/ros-drivers/velodyne/issues/41>`_ from prclibo/master
fixed a calibration file parsing bug
* Merge pull request `#42 <https://github.com/ros-drivers/velodyne/issues/42>`_ from prclibo/fix_gen_calibration
fixed gen_calibration min/max intensity type
* fixed gen_calibration min/max intensity type
* fixed a calibration file parsing bug
* Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef
1.2.0 (2014-08-06)
------------------
* velodyne_pointcloud: remove model-dependent "constants" from
rawdata.h (`#28
<https://github.com/ros-drivers/velodyne/issues/28>`_)
* velodyne_pointcloud: change default min_range to 0.9 meters (`#25
<https://github.com/ros-drivers/velodyne/issues/25>`_)
* Added support for YAML-CPP 0.5+ (`#23
<https://github.com/ros-drivers/velodyne/pull/23>`_).
* Add dynamic_reconfigure feature.
* Add angular limits to the output point cloud, useful for omitting
part of it. (`#22 <https://github.com/ros-drivers/velodyne/pull/22>`_).
* Contributors: Jack OQuin, Scott K Logan, Thomas Solatges
1.1.2 (2013-11-05)
------------------
* Move unit test data to download.ros.org (`#18`_).
* Install missing gen_calibration.py script (`#20`_).
1.1.1 (2013-07-30)
------------------
* Fix lost frame_id transform problem caused by PCL 1.7 fix (`#13`_).
* Add support for HDL-64E S2 and S2.1 models, which were not working
before (`#11`_), thanks to Gabor Meszaros (`#12`_).
* Add additional parameters to launch files (`#14`_).
* Contributors: Gabor Meszaros, Jack OQuin
1.1.0 (2013-07-16)
------------------
* Fix build problems due to PCL 1.7 API incompatibilities (`#8`_),
thanks to William Woodall. This version also works with Groovy, as
long as the correct ``pcl_conversions`` is installed.
* Fix errors with Mac OSX compiler (`#8`_).
* Install ``pluginlib`` XML files (`#9`_).
* Install some launch and parameter files.
* Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_).
1.0.1 (2013-06-15)
------------------
* Declare explicit ``pluginlib`` dependency (`#4`_).
1.0.0 (2013-06-14)
------------------
* Convert to catkin (`#1`_).
* Release to Hydro.
0.9.2 (2013-07-08)
------------------
* Fix Groovy build problem (`#7`_).
0.9.1 (2012-06-05)
------------------
* Only include "enabled" lasers in YAML calibration file.
* New param subdirectory for parameter files.
* Add launch file for the HDL-32E.
* Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
* Fix bug when reading configuration with default minIntensity.
* Add unit tests with 32E data.
* Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
------------------
* Completely revised API, anticipating a 1.0.0 release.
* HDL-32E device support.
* New YAML configuration file format.
* New velodyne_driver and velodyne_pointcloud packages.
* Old velodyne_common and velodyne_pcl packages no longer included.
* Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
------------------
* Label all timing-dependent tests "realtime" so they do not run by
default on the build farm machines.
0.2.5 (2010-11-19)
------------------
* Initial implementation of new 0.3 interfaces.
* Support for ROS 1.3 `std_msgs::Header` changes.
0.2.0 (2010-08-17)
------------------
* Initial release to ROS C-turtle.
.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20
.. _`#50`: https://github.com/ros-drivers/velodyne/issue/50
| 0
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apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/cloud_nodelet.launch
|
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager -->
<launch>
<arg name="calibration" default="" />
<arg name="manager" default="velodyne_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.9" />
<node pkg="nodelet" type="nodelet" name="$(arg manager)_cloud"
args="load velodyne_pointcloud/CloudNodelet $(arg manager)">
<param name="calibration" value="$(arg calibration)"/>
<param name="max_range" value="$(arg max_range)"/>
<param name="min_range" value="$(arg min_range)"/>
</node>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/transform_nodelet.launch
|
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/TransformNodelet in a nodelet manager -->
<launch>
<arg name="calibration" default="" />
<arg name="frame_id" default="odom" />
<arg name="manager" default="velodyne_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.9" />
<node pkg="nodelet" type="nodelet" name="$(arg manager)_transform"
args="load velodyne_pointcloud/TransformNodelet $(arg manager)" >
<param name="calibration" value="$(arg calibration)"/>
<param name="frame_id" value="$(arg frame_id)"/>
<param name="max_range" value="$(arg max_range)"/>
<param name="min_range" value="$(arg min_range)"/>
</node>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/VLS128_points.launch
|
<!-- -*- mode: XML -*- -->
<!-- Copyright (C) 2018, Velodyne LiDAR INC., Algorithms and Signal Processing Group -->
<!-- Author : Velodyne LiDAR, Algorithms and Signal Processing Group -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLS128 -->
<launch>
<!-- declare arguments with default values -->
<arg name="rviz" default="false" />
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VeloView_VLS-128_FS1.yaml"/>
<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="200.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default=" " />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLS128"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find lidarslam)/rviz/lidar_slam.rviz"/>
</group>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/laserscan_nodelet.launch
|
<!-- -*- mode: XML -*- -->
<!-- run velodyne_laserscan/LaserScanNodelet in a nodelet manager -->
<launch>
<arg name="manager" default="velodyne_nodelet_manager" />
<arg name="ring" default="-1" />
<arg name="resolution" default="0.007" />
<node pkg="nodelet" type="nodelet" name="$(arg manager)_laserscan"
args="load velodyne_laserscan/LaserScanNodelet $(arg manager)">
<param name="ring" value="$(arg ring)"/>
<param name="resolution" value="$(arg resolution)"/>
</node>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/VLP16_points.launch
|
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for a VLP-16 -->
<launch>
<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
<!-- start laserscan nodelet -->
<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
<arg name="manager" value="$(arg manager)" />
<arg name="ring" value="$(arg laserscan_ring)"/>
<arg name="resolution" value="$(arg laserscan_resolution)"/>
</include>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/VLP32C_points.launch
|
<!-- -*- mode: XML -*- -->
<!-- Copyright (C) 2017, Velodyne LiDAR INC., Algorithms and Signal Processing Group -->
<!-- Author : Velodyne LiDAR, Algorithms and Signal Processing Group -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLP-32C -->
<launch>
<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml"/>
<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="200.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP32C"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/launch/32e_points.launch
|
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an HDL-32E -->
<launch>
<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/>
<arg name="device_ip" default="" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="32E"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
<!-- start laserscan nodelet -->
<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
<arg name="manager" value="$(arg manager)" />
<arg name="ring" value="$(arg laserscan_ring)"/>
<arg name="resolution" value="$(arg laserscan_resolution)"/>
</include>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h
|
/**
* \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 $
*/
#ifndef __VELODYNE_CALIBRATION_H
#define __VELODYNE_CALIBRATION_H
#include <map>
#include <string>
namespace velodyne_pointcloud {
/** \brief correction values for a single laser
*
* Correction values for a single laser (as provided by db.xml from
* Velodyne). Includes parameters for Velodyne HDL-64E S2.1.
*
* http://velodynelidar.com/lidar/products/manual/63-HDL64E%20S2%20Manual_Rev%20D_2011_web.pdf
*/
/** \brief Correction information for a single laser. */
struct LaserCorrection {
/** parameters in db.xml */
float rot_correction;
float vert_correction;
float dist_correction;
bool two_pt_correction_available;
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;
/** cached values calculated when the calibration file is read */
float cos_rot_correction; ///< cosine of rot_correction
float sin_rot_correction; ///< sine of rot_correction
float cos_vert_correction; ///< cosine of vert_correction
float sin_vert_correction; ///< sine of vert_correction
int laser_ring; ///< ring number for this laser
};
/** \brief Calibration information for the entire device. */
class Calibration {
public:
std::map<int, LaserCorrection> laser_corrections;
int num_lasers;
bool initialized;
bool ros_info;
public:
Calibration(bool info=true):
initialized(false), ros_info(info) {}
Calibration(const std::string& calibration_file,
bool info=true):
ros_info(info)
{
read(calibration_file);
}
void read(const std::string& calibration_file);
void write(const std::string& calibration_file);
};
} /* velodyne_pointcloud */
#endif /* end of include guard: __VELODYNE_CALIBRATION_H */
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h
|
/* -*- mode: C++ -*-
*
* Copyright (C) 2011, 2012 Austin Robot Technology
*
* License: Modified BSD Software License Agreement
*
* $Id: data_base.h 1554 2011-06-14 22:11:17Z jack.oquin $
*/
/** \file
*
* Point Cloud Library point structures for Velodyne data.
*
* @author Jesse Vera
* @author Jack O'Quin
* @author Piyush Khandelwal
*/
#ifndef __VELODYNE_POINTCLOUD_POINT_TYPES_H
#define __VELODYNE_POINTCLOUD_POINT_TYPES_H
#include <pcl/point_types.h>
namespace velodyne_pointcloud
{
/** Euclidean Velodyne coordinate, including intensity and ring number. */
struct PointXYZIR
{
PCL_ADD_POINT4D; // quad-word XYZ
float intensity; ///< laser intensity reading
uint16_t ring; ///< laser ring number
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // ensure proper alignment
} EIGEN_ALIGN16;
}; // namespace velodyne_pointcloud
POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pointcloud::PointXYZIR,
(float, x, x)
(float, y, y)
(float, z, z)
(float, intensity, intensity)
(uint16_t, ring, ring))
#endif // __VELODYNE_POINTCLOUD_POINT_TYPES_H
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h
|
/* -*- mode: C++ -*-
*
* Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
* Copyright (C) 2009, 2010, 2012 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2017, Velodyne LiDAR INC., Algorithms and Signal Processing Group
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
*
* @brief Interfaces for interpreting raw packets from the Velodyne 3D LIDAR.
*
* @author Yaxin Liu
* @author Patrick Beeson
* @author Jack O'Quin
* @author Velodyne LiDAR, Algorithms and Signal Processing Group
*/
#ifndef __VELODYNE_RAWDATA_H
#define __VELODYNE_RAWDATA_H
#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <math.h>
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <velodyne_pointcloud/point_types.h>
#include <velodyne_pointcloud/calibration.h>
namespace velodyne_rawdata
{
// Shorthand typedefs for point cloud representations
struct PointXYZIRB
{
PCL_ADD_POINT4D; // quad-word XYZ
float intensity; ///< laser intensity reading
uint16_t ring; ///< laser ring number
uint16_t block; ///< packet datablock number
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // ensure proper alignment
} EIGEN_ALIGN16;
typedef velodyne_pointcloud::PointXYZIR VPoint;
typedef pcl::PointCloud<VPoint> VPointCloud;
// typedef pcl::PointCloud<PointXYZIRB> XYZIRBPointCloud;
/**
* Raw Velodyne packet constants and structures.
*/
static const int BLOCK_SIZE = 100; // [bytes]
static const int CHANNEL_SIZE = 3; // [bytes]
static const int NUM_CHANS_PER_BLOCK = 32;
static const int BLOCK_DATA_SIZE = (NUM_CHANS_PER_BLOCK * CHANNEL_SIZE);
static const float CHANNEL_TDURATION = 2.304f; // [µs] Channels corresponds to one laser firing
static const float SEQ_TDURATION = 55.296f; // [µs] Sequence is a set of laser firings including recharging
static const float ROTATION_RESOLUTION = 0.01f; // [deg]
static const uint16_t ROTATION_MAX_UNITS = 36000u; // [deg/100]
static const float DISTANCE_RESOLUTION = 0.002f; // [m]
static const float VLP32_DISTANCE_RESOLUTION = 0.004f; // [m]
/** @todo make this work for both big and little-endian machines */
static const uint16_t UPPER_BANK = 0xeeff;
static const uint16_t LOWER_BANK = 0xddff;
/** Special Definitions for VLP16 support **/
static const int VLP16_NUM_SEQS_PER_BLOCK = 2;
static const int VLP16_NUM_CHANS_PER_SEQ = 16;
static const float VLP16_BLOCK_TDURATION = (VLP16_NUM_SEQS_PER_BLOCK * SEQ_TDURATION);
/** Special Definitions for HDL32 support **/
static const float HDL32_CHANNEL_TDURATION = 1.152f; // [µs] From Application Note: HDL-32E Packet Structure and Timing Defition
static const float HDL32_SEQ_TDURATION = 46.080f; // [µs] Sequence is a set of laser firings including recharging
/** Special Definition for VLS128 support **/
static const int VLS128_NUM_CHANS_PER_BLOCK = 128;
static const int VLS128_BLOCK_DATA_SIZE = VLS128_NUM_CHANS_PER_BLOCK * CHANNEL_SIZE;
/** \brief Raw Velodyne 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 stdint.h types, so things work with both 64 and 32-bit machines
*/
typedef struct raw_block
{
uint16_t header; ///< UPPER_BANK or LOWER_BANK
uint16_t rotation; ///< 0-35999, divide by 100 to get degrees
uint8_t data[BLOCK_DATA_SIZE];
} 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
{
uint16_t uint;
uint8_t bytes[2];
};
static const int PACKET_SIZE = 1206; // [bytes]
static const int NUM_BLOCKS_PER_PACKET = 12;
static const int PACKET_STATUS_SIZE = 4;
static const int NUM_CHANS_PER_PACKET = (NUM_CHANS_PER_BLOCK * NUM_BLOCKS_PER_PACKET);
/** \brief Raw Velodyne 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.
*
* \todo figure out if revolution is only present for one of the
* two types of status fields
*
* status has either a temperature encoding or the microcode level
*/
typedef struct raw_packet
{
raw_block_t blocks[NUM_BLOCKS_PER_PACKET];
uint16_t revolution;
uint8_t status[PACKET_STATUS_SIZE];
} raw_packet_t;
/** \brief Velodyne data conversion class */
class RawData
{
public:
RawData();
~RawData() {}
/** \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
*/
int setup(ros::NodeHandle private_nh);
/** \brief Set up for data processing offline.
* Performs the same initialization as in setup, in the abscence of a ros::NodeHandle.
* this method is useful if unpacking data directly from bag files, without passing
* through a communication overhead.
*
* @param calibration_file path to the calibration file
* @param max_range_ cutoff for maximum range
* @param min_range_ cutoff for minimum range
* @returns 0 if successful;
* errno value for failure
*/
int setupOffline(std::string calibration_file, double max_range_, double min_range_);
void unpack(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
// void unpack(const velodyne_msgs::VelodynePacket &pkt, XYZIRBPointCloud &pc);
void setParameters(double min_range, double max_range, double view_direction,
double view_width);
private:
/** configuration parameters */
typedef struct {
std::string calibrationFile; ///< calibration file name
double max_range; ///< maximum range to publish
double min_range; ///< minimum range to publish
int min_angle; ///< minimum angle to publish
int max_angle; ///< maximum angle to publish
double tmp_min_angle;
double tmp_max_angle;
} Config;
Config config_;
float previous_block_corrected_azimuth; // for support of different scan patterns
float previous_block_corrected_elevation; // record the scan profile endpoint in previous packet
/**
* Calibration file
*/
velodyne_pointcloud::Calibration calibration_;
float sin_rot_table_[ROTATION_MAX_UNITS];
float cos_rot_table_[ROTATION_MAX_UNITS];
/** add private function to handle each sensor **/
void unpack_vlp16(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
void unpack_vlp32(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
void unpack_hdl32(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
void unpack_hdl64(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
void unpack_vls128(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc);
void compute_xyzi( const uint8_t chan_id
, const uint16_t azimuth_uint
, const float distance
, float &intensity
, float &x_coord
, float &y_coord
, float &z_coord
);
/** in-line test whether a point is in range */
bool pointInRange(float range)
{
return (range >= config_.min_range
&& range <= config_.max_range);
}
};
} // namespace velodyne_rawdata
POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_rawdata::PointXYZIRB,
(float, x, x)
(float, y, y)
(float, z, z)
(float, intensity, intensity)
(uint16_t, ring, ring)
(uint16_t, block, block))
#endif // __VELODYNE_RAWDATA_H
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|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/issue_84_float_intensities.yaml
|
# test data from an HDL-64E S2 containing float min_intensity values
# causes issue #84 failure
lasers:
- {dist_correction: 1.1897507, dist_correction_x: 1.2184412, dist_correction_y: 1.1993269,
focal_distance: 22.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 0,
min_intensity: 40.0, rot_correction: -0.08193448173487379, vert_correction: -0.12118950050089745,
vert_offset_correction: 0.21533014000000003}
- {dist_correction: 1.4128801999999998, dist_correction_x: 1.4313695000000002, dist_correction_y: 1.4312958,
focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 1, min_intensity: 40.0, rot_correction: -0.04631400641637322, vert_correction: -0.1154246814722187,
vert_offset_correction: 0.21490976}
- {dist_correction: 1.352054, dist_correction_x: 1.3625516, dist_correction_y: 1.3604144,
focal_distance: 22.0, focal_slope: 1.15, horiz_offset_correction: 0.025999999, laser_id: 2,
min_intensity: 40.0, rot_correction: 0.05367805144003262, vert_correction: 0.007649359057937743,
vert_offset_correction: 0.20602308000000003}
- {dist_correction: 1.3877103, dist_correction_x: 1.4052618000000001, dist_correction_y: 1.4102048999999999,
focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 3,
min_intensity: 20.0, rot_correction: 0.09201863985105889, vert_correction: 0.01508908679395137,
vert_offset_correction: 0.20548805000000003}
- {dist_correction: 1.2740263, dist_correction_x: 1.2988675, dist_correction_y: 1.2487833000000002,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 4,
min_intensity: 10.0, rot_correction: -0.007693320585669901, vert_correction: -0.1102984033676868,
vert_offset_correction: 0.21453644000000002}
- {dist_correction: 1.2418116000000001, dist_correction_x: 1.252481, dist_correction_y: 1.2255676,
focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999,
laser_id: 5, min_intensity: 28.0, rot_correction: 0.032006458688310216, vert_correction: -0.10399361088436754,
vert_offset_correction: 0.21407784}
- {dist_correction: 1.3176793, dist_correction_x: 1.3353647000000002, dist_correction_y: 1.3361707999999999,
focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 6,
min_intensity: 40.0, rot_correction: -0.021861479338351635, vert_correction: -0.14544533071754853,
vert_offset_correction: 0.21710571}
- {dist_correction: 1.3708466000000001, dist_correction_x: 1.3905527000000002, dist_correction_y: 1.3970328,
focal_distance: 24.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 7, min_intensity: 40.0, rot_correction: 0.01761759781572604, vert_correction: -0.139035509555832,
vert_offset_correction: 0.21663536}
- {dist_correction: 1.2544352, dist_correction_x: 1.2857481000000002, dist_correction_y: 1.2282503,
focal_distance: 24.0, focal_slope: 1.22, horiz_offset_correction: 0.025999999, laser_id: 8,
min_intensity: 40.0, rot_correction: 0.06658719948349573, vert_correction: -0.09889517252673422,
vert_offset_correction: 0.21370745}
- {dist_correction: 1.3738158999999999, dist_correction_x: 1.3938158000000003, dist_correction_y: 1.3844524000000002,
focal_distance: 24.0, focal_slope: 1.15, horiz_offset_correction: -0.025999999,
laser_id: 9, min_intensity: 40.0, rot_correction: 0.10588806804896926, vert_correction: -0.09225143361201914,
vert_offset_correction: 0.21322533}
- {dist_correction: 1.3156921, dist_correction_x: 1.3354019, dist_correction_y: 1.2833449,
focal_distance: 24.0, focal_slope: 1.3200001, horiz_offset_correction: 0.025999999,
laser_id: 10, min_intensity: 40.0, rot_correction: 0.052778260906800954, vert_correction: -0.134421316289823,
vert_offset_correction: 0.2162973}
- {dist_correction: 1.3696194, dist_correction_x: 1.3846521, dist_correction_y: 1.3639107000000001,
focal_distance: 20.0, focal_slope: 1.25, horiz_offset_correction: -0.025999999,
laser_id: 11, min_intensity: 40.0, rot_correction: 0.09284370411236641, vert_correction: -0.12714737563412706,
vert_offset_correction: 0.21576523000000003}
- {dist_correction: 1.2275657, dist_correction_x: 1.2543072, dist_correction_y: 1.2294422,
focal_distance: 24.0, focal_slope: 1.0700001, horiz_offset_correction: 0.025999999,
laser_id: 12, min_intensity: 40.0, rot_correction: -0.08319450648038783, vert_correction: -0.0502394945048745,
vert_offset_correction: 0.21018864}
- {dist_correction: 1.3757889, dist_correction_x: 1.3849341999999998, dist_correction_y: 1.3686421000000002,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 13,
min_intensity: 40.0, rot_correction: -0.04344974309026683, vert_correction: -0.04379427282993976,
vert_offset_correction: 0.20972416}
- {dist_correction: 1.3319664, dist_correction_x: 1.3705452, dist_correction_y: 1.3209669,
focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 14,
min_intensity: 40.0, rot_correction: -0.09661677957860802, vert_correction: -0.08535601123784947,
vert_offset_correction: 0.21272558}
- {dist_correction: 1.3714989, dist_correction_x: 1.3624129999999999, dist_correction_y: 1.3403807,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 15,
min_intensity: 40.0, rot_correction: -0.056929933194385184, vert_correction: -0.07898063589425029,
vert_offset_correction: 0.21226404}
- {dist_correction: 1.2595838000000001, dist_correction_x: 1.2785926, dist_correction_y: 1.2370594,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 16,
min_intensity: 40.0, rot_correction: -0.008102055927068873, vert_correction: -0.03910078576535417,
vert_offset_correction: 0.20938608}
- {dist_correction: 1.3786241000000001, dist_correction_x: 1.3948055, dist_correction_y: 1.3862044,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 17,
min_intensity: 40.0, rot_correction: 0.03149012048240021, vert_correction: -0.03191447983673011,
vert_offset_correction: 0.20886870999999999}
- {dist_correction: 1.3628464, dist_correction_x: 1.3785178, dist_correction_y: 1.3152992000000001,
focal_distance: 20.5, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 18,
min_intensity: 10.0, rot_correction: -0.021944024685324706, vert_correction: -0.07495714058693254,
vert_offset_correction: 0.21197302}
- {dist_correction: 1.394641, dist_correction_x: 1.3899173999999999, dist_correction_y: 1.370442,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 19,
min_intensity: 10.0, rot_correction: 0.01766883719190609, vert_correction: -0.06771695808962866,
vert_offset_correction: 0.21144976000000001}
- {dist_correction: 1.2123122, dist_correction_x: 1.2413981, dist_correction_y: 1.2070784,
focal_distance: 23.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20,
min_intensity: 5.0, rot_correction: 0.06651143299533739, vert_correction: -0.027462144914892576,
vert_offset_correction: 0.20854828000000003}
- {dist_correction: 1.2599731, dist_correction_x: 1.2764229, dist_correction_y: 1.2986679,
focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 21,
min_intensity: 5.0, rot_correction: 0.10511566735251142, vert_correction: -0.020434314882349612,
vert_offset_correction: 0.20804264}
- {dist_correction: 1.3053941, dist_correction_x: 1.3411044, dist_correction_y: 1.2835222,
focal_distance: 24.0, focal_slope: 1.42, horiz_offset_correction: 0.025999999, laser_id: 22,
min_intensity: 30.0, rot_correction: 0.052657269447064954, vert_correction: -0.06262826041455072,
vert_offset_correction: 0.21108229}
- {dist_correction: 1.2550185, dist_correction_x: 1.2702521, dist_correction_y: 1.2836005000000001,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 23,
min_intensity: 40.0, rot_correction: 0.09175727679557273, vert_correction: -0.05606926072567847,
vert_offset_correction: 0.21060900000000002}
- {dist_correction: 1.2748341, dist_correction_x: 1.3196121, dist_correction_y: 1.2784751,
focal_distance: 20.5, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 24,
min_intensity: 10.0, rot_correction: -0.08344753035270795, vert_correction: 0.020524792750772996,
vert_offset_correction: 0.20509708000000001}
- {dist_correction: 1.3777713, dist_correction_x: 1.3645123000000001, dist_correction_y: 1.3802203,
focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 25,
max_intensity: 230.0, rot_correction: -0.04351660490858147, vert_correction: 0.02702150163864157,
vert_offset_correction: 0.20462966999999999}
- {dist_correction: 1.3718602000000002, dist_correction_x: 1.4046102999999999, dist_correction_y: 1.3834868,
focal_distance: 19.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 26,
max_intensity: 245.0, rot_correction: -0.09689230074498635, vert_correction: -0.014916840599137901,
vert_offset_correction: 0.2076458}
- {dist_correction: 1.3833778, dist_correction_x: 1.375231, dist_correction_y: 1.3606032,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 27,
max_intensity: 240.0, rot_correction: -0.057451870416535586, vert_correction: -0.00817206789015045,
vert_offset_correction: 0.20716073999999998}
- {dist_correction: 1.2951183000000002, dist_correction_x: 1.3258408, dist_correction_y: 1.2997318999999998,
focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 28,
max_intensity: 240.0, rot_correction: -0.008271954654038412, vert_correction: 0.032168250709970085,
vert_offset_correction: 0.20425926}
- {dist_correction: 1.4026823, dist_correction_x: 1.4151775000000002, dist_correction_y: 1.4065117,
focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: -0.025999999,
laser_id: 29, rot_correction: 0.03059445241686176, vert_correction: 0.03821143404637868,
vert_offset_correction: 0.2038242}
- {dist_correction: 1.3756502000000002, dist_correction_x: 1.3986545000000001, dist_correction_y: 1.3567966000000002,
focal_distance: 24.0, focal_slope: 1.37, horiz_offset_correction: 0.025999999, laser_id: 30,
rot_correction: -0.022168507188386963, vert_correction: -0.003020972948984465, vert_offset_correction: 0.20679033000000002}
- {dist_correction: 1.4303774999999999, dist_correction_x: 1.4219699000000001, dist_correction_y: 1.4110721000000002,
focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999,
laser_id: 31, rot_correction: 0.017020332183059567, vert_correction: 0.0032341127317709376,
vert_offset_correction: 0.20634056}
- {dist_correction: 1.2299187999999999, dist_correction_x: 1.221242, dist_correction_y: 1.159202,
focal_distance: 12.8, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 32,
rot_correction: -0.13428924897065386, vert_correction: -0.3917846862503118, vert_offset_correction: 0.15982219}
- {dist_correction: 1.3144859, dist_correction_x: 1.3336081, dist_correction_y: 1.3461792,
focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: -0.025999999,
laser_id: 33, rot_correction: -0.07421947892390637, vert_correction: -0.3836205247016729,
vert_offset_correction: 0.15923027}
- {dist_correction: 1.2725937999999999, dist_correction_x: 1.2842772, dist_correction_y: 1.3025389,
focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999,
laser_id: 34, rot_correction: 0.08138446391038806, vert_correction: -0.1992609420279063,
vert_offset_correction: 0.14669841}
- {dist_correction: 1.3357777, dist_correction_x: 1.3343283, dist_correction_y: 1.3631558000000001,
focal_distance: 9.0, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 35,
rot_correction: 0.1383208914749199, vert_correction: -0.18701489169116567, vert_offset_correction: 0.14590834}
- {dist_correction: 1.1742934, dist_correction_x: 1.2244499, dist_correction_y: 1.1818057,
focal_distance: 10.8, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 36,
rot_correction: -0.013445351586919306, vert_correction: -0.37738235143590226, vert_offset_correction: 0.15878062}
- {dist_correction: 1.090762, dist_correction_x: 1.1042352, dist_correction_y: 1.0975322,
focal_distance: 12.5, focal_slope: 1.55, horiz_offset_correction: -0.025999999,
laser_id: 37, rot_correction: 0.04734804593033903, vert_correction: -0.3673083633532685,
vert_offset_correction: 0.15805914}
- {dist_correction: 1.2801097, dist_correction_x: 1.2734876, dist_correction_y: 1.2697346,
focal_distance: 6.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38,
rot_correction: -0.03680020095578886, vert_correction: -0.4294796616630621, vert_offset_correction: 0.16260902000000002}
- {dist_correction: 1.2865338, dist_correction_x: 1.2686511, dist_correction_y: 1.29416,
focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 39,
rot_correction: 0.025992554995433074, vert_correction: -0.42099842614921335, vert_offset_correction: 0.16197392000000002}
- {dist_correction: 1.2932777, dist_correction_x: 1.3400191000000001, dist_correction_y: 1.3263618,
focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: 0.025999999, laser_id: 40,
rot_correction: 0.10601307725664336, vert_correction: -0.3565455112681652, vert_offset_correction: 0.15729448}
- {dist_correction: 1.2614787, dist_correction_x: 1.2626826, dist_correction_y: 1.267609,
focal_distance: 8.5, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 41,
rot_correction: 0.16733068965072595, vert_correction: -0.3479014190818128, vert_offset_correction: 0.15668478}
- {dist_correction: 1.2428966, dist_correction_x: 1.2460679000000001, dist_correction_y: 1.2397518,
focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 42,
rot_correction: 0.08594727468321833, vert_correction: -0.4110102035460227, vert_offset_correction: 0.16123213}
- {dist_correction: 1.3061783, dist_correction_x: 1.2655383, dist_correction_y: 1.2857359,
focal_distance: 10.0, focal_slope: 1.6799999, horiz_offset_correction: -0.025999999,
laser_id: 43, rot_correction: 0.1464050331680134, vert_correction: -0.4015579191962419,
vert_offset_correction: 0.16053604}
- {dist_correction: 1.2317036000000001, dist_correction_x: 1.2393882, dist_correction_y: 1.2123593,
focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 44,
rot_correction: -0.13261467013054762, vert_correction: -0.2838808920696538, vert_offset_correction: 0.1522797}
- {dist_correction: 1.2567677000000002, dist_correction_x: 1.2904861, dist_correction_y: 1.2915567,
focal_distance: 0.25, focal_slope: 0.47999999, horiz_offset_correction: -0.025999999,
laser_id: 45, rot_correction: -0.07009130400404175, vert_correction: -0.276291415083819,
vert_offset_correction: 0.15176907}
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focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 46,
rot_correction: -0.15533259824081613, vert_correction: -0.33574467724289675, vert_offset_correction: 0.15583374}
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focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 47, rot_correction: -0.09347288483573485, vert_correction: -0.3300846093852642,
vert_offset_correction: 0.15543998}
- {dist_correction: 1.1445625, dist_correction_x: 1.2045525000000001, dist_correction_y: 1.1558383,
focal_distance: 23.2, focal_slope: 0.75, horiz_offset_correction: 0.025999999, laser_id: 48,
rot_correction: -0.014086204897792162, vert_correction: -0.2692770589931014, vert_offset_correction: 0.15129910000000002}
- {dist_correction: 1.2741866, dist_correction_x: 1.2946111, dist_correction_y: 1.2808211,
focal_distance: 18.0, focal_slope: 0.92000002, horiz_offset_correction: -0.025999999,
laser_id: 49, rot_correction: 0.04602459591980752, vert_correction: -0.25952585210233153,
vert_offset_correction: 0.15064875}
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focal_distance: 15.8, focal_slope: 1.28, horiz_offset_correction: 0.025999999, laser_id: 50,
rot_correction: -0.035928232716163244, vert_correction: -0.3234839312338543, vert_offset_correction: 0.1549827}
- {dist_correction: 1.1207238, dist_correction_x: 1.1458776000000002, dist_correction_y: 1.1290197000000002,
focal_distance: 18.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 51, rot_correction: 0.025398581053735863, vert_correction: -0.3141198558244693,
vert_offset_correction: 0.15433743}
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focal_distance: 2.2, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 52, rot_correction: 0.10206324357040601, vert_correction: -0.2503763474711867,
vert_offset_correction: 0.15004159}
- {dist_correction: 1.2831325000000002, dist_correction_x: 1.2906917000000002, dist_correction_y: 1.3047183000000002,
focal_distance: 8.2, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 53,
rot_correction: 0.16118048446991431, vert_correction: -0.2388694789792507, vert_offset_correction: 0.14928201}
- {dist_correction: 1.4319325, dist_correction_x: 1.470513, dist_correction_y: 1.4623492,
focal_distance: 6.0, focal_slope: 0.51999998, horiz_offset_correction: 0.025999999,
laser_id: 54, rot_correction: 0.08241589764778065, vert_correction: -0.30499605989320633,
vert_offset_correction: 0.15371249}
- {dist_correction: 1.2852434, dist_correction_x: 1.2985229, dist_correction_y: 1.271758,
focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55,
rot_correction: 0.142266131454566, vert_correction: -0.2947717466020984, vert_offset_correction: 0.15301642}
- {dist_correction: 1.4007397000000001, dist_correction_x: 1.4001398, dist_correction_y: 1.3912132,
focal_distance: 8.5, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 56,
rot_correction: -0.12786652808043583, vert_correction: -0.17641617036891985, vert_offset_correction: 0.14522751}
- {dist_correction: 1.2880724000000001, dist_correction_x: 1.3014014, dist_correction_y: 1.3205367000000001,
focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 57,
rot_correction: -0.07017803115990259, vert_correction: -0.17070459784506095, vert_offset_correction: 0.14486169000000002}
- {dist_correction: 1.4760434, dist_correction_x: 1.4308182, dist_correction_y: 1.4627808,
focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 58,
rot_correction: -0.15113763829712393, vert_correction: -0.2281125435603116, vert_offset_correction: 0.14857577}
- {dist_correction: 1.303936, dist_correction_x: 1.3230009, dist_correction_y: 1.3335196,
focal_distance: 0.25, focal_slope: 0.64999998, horiz_offset_correction: -0.025999999,
laser_id: 59, rot_correction: -0.0918767934520908, vert_correction: -0.2232191988430801,
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- {dist_correction: 1.3472046, dist_correction_x: 1.3541069, dist_correction_y: 1.3651146,
focal_distance: 3.5, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 60,
rot_correction: -0.013572408240338915, vert_correction: -0.16291245497181386, vert_offset_correction: 0.14436376}
- {dist_correction: 1.3001047000000001, dist_correction_x: 1.3096320000000001, dist_correction_y: 1.3519560000000002,
focal_distance: 3.5, focal_slope: 1.35, horiz_offset_correction: -0.025999999, laser_id: 61,
rot_correction: 0.04349449333228796, vert_correction: -0.1540625535600664, vert_offset_correction: 0.14379979}
- {dist_correction: 1.2880972, dist_correction_x: 1.2842999000000002, dist_correction_y: 1.2916876,
focal_distance: 12.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 62,
rot_correction: -0.03466167345792974, vert_correction: -0.21484439350701803, vert_offset_correction: 0.14770949}
- {dist_correction: 1.3186316, dist_correction_x: 1.3250179, dist_correction_y: 1.3431560999999999,
focal_distance: 10.5, focal_slope: 0.60000002, horiz_offset_correction: -0.025999999,
laser_id: 63, rot_correction: 0.02351688573662471, vert_correction: -0.20683046990039078,
vert_offset_correction: 0.14718871}
num_lasers: 64
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/32db.xml
|
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</px>
</item>
<item>
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</px>
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<item>
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</px>
</item>
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<item>
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<item>
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<item>
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<item>
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</item>
<item>
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<item>
<px class_id_reference="9" object_id="_49">
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</item>
<item>
<px class_id_reference="9" object_id="_50">
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</item>
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</item>
<item>
<px class_id_reference="9" object_id="_52">
<id_>51</id_>
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</item>
<item>
<px class_id_reference="9" object_id="_53">
<id_>52</id_>
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<vertCorrection_>0</vertCorrection_>
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</item>
<item>
<px class_id_reference="9" object_id="_54">
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</boost_serialization>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/CMakeLists.txt
|
### Unit tests
#
# Only configured when CATKIN_ENABLE_TESTING is true.
# these dependencies are only needed for unit testing
find_package(roslaunch REQUIRED)
find_package(rostest REQUIRED)
find_package(tf2_ros REQUIRED)
# C++ gtests
catkin_add_gtest(test_calibration test_calibration.cpp)
add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES})
# Download packet capture (PCAP) files containing test data.
# Store them in devel-space, so rostest can easily find them.
catkin_download_test_data(
${PROJECT_NAME}_tests_class.pcap
http://download.ros.org/data/velodyne/class.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 65808d25772101358a3719b451b3d015)
catkin_download_test_data(
${PROJECT_NAME}_tests_32e.pcap
http://download.ros.org/data/velodyne/32e.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 e41d02aac34f0967c03a5597e1d554a9)
catkin_download_test_data(
${PROJECT_NAME}_tests_64e_s2.1-300-sztaki.pcap
http://download.ros.org/data/velodyne/64e_s2.1-300-sztaki.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 176c900ffb698f9b948a13e281ffc1a2)
catkin_download_test_data(
${PROJECT_NAME}_tests_vlp16.pcap
http://download.ros.org/data/velodyne/vlp16.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 f45c2bb1d7ee358274e423ea3b66fd73)
# run rostests
add_rostest(cloud_node_hz.test)
add_rostest(cloud_nodelet_hz.test)
add_rostest(cloud_node_32e_hz.test)
add_rostest(cloud_nodelet_32e_hz.test)
add_rostest(cloud_node_64e_s2.1_hz.test)
add_rostest(cloud_nodelet_64e_s2.1_hz.test)
add_rostest(cloud_node_vlp16_hz.test)
add_rostest(cloud_nodelet_vlp16_hz.test)
add_rostest(transform_node_hz.test)
add_rostest(transform_nodelet_hz.test)
add_rostest(two_nodelet_managers.test)
# parse check all the launch/*.launch files
roslaunch_add_file_check(../launch)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/transform_nodelet_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a transformed PointCloud from PCAP data. -->
<launch>
<!-- define transforms for static vehicle -->
<include file="$(find velodyne_pointcloud)/tests/static_vehicle_tf.launch" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
</include>
<!-- start transform nodelet -->
<include file="$(find velodyne_pointcloud)/launch/transform_nodelet.launch">
<arg name="calibration"
value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
</include>
<!-- Verify PointCloud2 publication rate. Unfortunately,
transformed clouds run very slowly, they spend too much time
waiting for the /velodyne to /odom transform to be available.
-->
<test test-name="transform_nodelet_hz_test" pkg="rostest"
type="hztest" name="hztest_transform_nodelet_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="7.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_nodelet_32e_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from PCAP data. -->
<launch>
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
<arg name="frame_id" value="test_frame"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_nodelet_32e_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_nodelet_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/transform_node_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a transformed PointCloud from PCAP data. -->
<launch>
<!-- define transforms for static vehicle -->
<include file="$(find velodyne_pointcloud)/tests/static_vehicle_tf.launch" />
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
</node>
<!-- start transform node with test calibration file -->
<node pkg="velodyne_pointcloud" type="transform_node" name="transform_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/tests/angles.yaml"/>
</node>
<!-- Verify PointCloud2 publication rate. Unfortunately,
transformed clouds run very slowly, they spend too much time
waiting for the /velodyne to /odom transform to be available.
-->
<test test-name="transform_node_hz_test" pkg="rostest"
type="hztest" name="hztest_transform_node_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="7.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/angles.yaml
|
lasers:
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532,
vert_offset_correction: 0}
- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727,
vert_offset_correction: 0}
- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627,
vert_offset_correction: 0}
- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0,
rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359,
vert_offset_correction: 0}
- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0,
rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0,
rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293,
vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705,
vert_offset_correction: 0}
- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0,
rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742,
vert_offset_correction: 0}
- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0,
rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286,
vert_offset_correction: 0}
- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138,
vert_offset_correction: 0}
- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195,
vert_offset_correction: 0}
- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0,
rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0,
rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691,
vert_offset_correction: 0}
- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493,
vert_offset_correction: 0}
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0,
rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942,
vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0,
rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472,
vert_offset_correction: 0}
- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118,
vert_offset_correction: 0}
- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0,
rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853,
vert_offset_correction: 0}
- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0,
rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941,
vert_offset_correction: 0}
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0,
rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0,
rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0,
rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323,
vert_offset_correction: 0}
- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733,
vert_offset_correction: 0}
- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0,
rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471,
vert_offset_correction: 0}
- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0,
rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0,
rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0,
rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764,
vert_offset_correction: 0}
- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0,
rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531,
vert_offset_correction: 0}
- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143,
two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902,
vert_offset_correction: 0}
num_lasers: 64
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/static_vehicle_tf.launch
|
<!-- -*- mode: XML -*- -->
<!-- define transforms for testing static vehicle sensors -->
<launch>
<!-- publish /vehicle -> /velodyne transform -->
<node pkg="tf2_ros" type="static_transform_publisher"
name="vehicle_velodyne_tf"
args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 vehicle velodyne" />
<!-- publish identity /odom -> /vehicle transform
(for viewing sensor data for a static vehicle) -->
<node pkg="tf2_ros" type="static_transform_publisher"
name="vehicle_is_odom"
args="0 0 0 0 0 0 odom vehicle" />
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/angles-calibrated.yaml
|
num_lasers: 64
lasers:
- laser_id: 0
rot_correction: -0.122173048555851
vert_correction: -0.401850968599319
dist_correction: 0.119999997317791
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 1
rot_correction: -0.0610865242779255
vert_correction: -0.39391815662384
dist_correction: 0.0199999995529652
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 2
rot_correction: 0.0959931090474129
vert_correction: -0.200955957174301
dist_correction: 0.100000001490116
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 3
rot_correction: 0.148352980613708
vert_correction: -0.188023120164871
dist_correction: 0.230000004172325
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 4
rot_correction: -0.00872664619237185
vert_correction: -0.384992778301239
dist_correction: 0.170000001788139
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 5
rot_correction: 0.0610865242779255
vert_correction: -0.379074156284332
dist_correction: 0.150000005960464
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 6
rot_correction: -0.0174532923847437
vert_correction: -0.445288896560669
dist_correction: 0.0500000007450581
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 7
rot_correction: 0.0349065847694874
vert_correction: -0.43470174074173
dist_correction: 0.270000010728836
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 8
rot_correction: 0.122173048555851
vert_correction: -0.3671615421772
dist_correction: 0.180000007152557
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 9
rot_correction: 0.174532920122147
vert_correction: -0.357254236936569
dist_correction: 0.189999997615814
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 10
rot_correction: 0.104719758033752
vert_correction: -0.423742026090622
dist_correction: 0.100000001490116
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 11
rot_correction: 0.165806278586388
vert_correction: -0.414792060852051
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 12
rot_correction: -0.113446399569511
vert_correction: -0.288992017507553
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 13
rot_correction: -0.0567231997847557
vert_correction: -0.28310164809227
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 14
rot_correction: -0.13962633907795
vert_correction: -0.347351551055908
dist_correction: 0.150000005960464
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 15
rot_correction: -0.0872664600610733
vert_correction: -0.332452714443207
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 16
rot_correction: 0
vert_correction: -0.274210214614868
dist_correction: 0.0599999986588955
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 17
rot_correction: 0.0558505356311798
vert_correction: -0.266317009925842
dist_correction: 0.129999995231628
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 18
rot_correction: -0.0174532923847437
vert_correction: -0.331895291805267
dist_correction: 0.00999999977648258
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 19
rot_correction: 0.0349065847694874
vert_correction: -0.323663860559464
dist_correction: 0.150000005960464
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 20
rot_correction: 0.122173048555851
vert_correction: -0.256421387195587
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 21
rot_correction: 0.165806278586388
vert_correction: -0.244522526860237
dist_correction: 0.239999994635582
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 22
rot_correction: 0.104719758033752
vert_correction: -0.31077241897583
dist_correction: 0.180000007152557
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 23
rot_correction: 0.157079637050629
vert_correction: -0.302882075309753
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 24
rot_correction: -0.104719758033752
vert_correction: -0.180082052946091
dist_correction: 0.140000000596046
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 25
rot_correction: -0.0610865242779255
vert_correction: -0.172132045030594
dist_correction: 0.319999992847443
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 26
rot_correction: -0.13962633907795
vert_correction: -0.235619828104973
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 27
rot_correction: -0.0785398185253143
vert_correction: -0.228712558746338
dist_correction: 0.25
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 28
rot_correction: 0
vert_correction: -0.16517236828804
dist_correction: 0.170000001788139
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 29
rot_correction: 0.0436332300305367
vert_correction: -0.154202222824097
dist_correction: 0.230000004172325
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 30
rot_correction: -0.0174532923847437
vert_correction: -0.219799935817719
dist_correction: 0.150000005960464
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 31
rot_correction: 0.0314159244298935
vert_correction: -0.21088133752346
dist_correction: 0.230000004172325
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 32
rot_correction: -0.0698131695389748
vert_correction: -0.121932752430439
dist_correction: 0.100000001490116
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 33
rot_correction: -0.0392699092626572
vert_correction: -0.113993428647518
dist_correction: 0.280000001192093
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 34
rot_correction: 0.0698131695389748
vert_correction: 0.0055470340885222
dist_correction: 0.319999992847443
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 35
rot_correction: 0.104719758033752
vert_correction: 0.0114863449707627
dist_correction: 0.230000004172325
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 36
rot_correction: 0.013962633907795
vert_correction: -0.109056323766708
dist_correction: 0.0700000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 37
rot_correction: 0.0392699092626572
vert_correction: -0.104121200740337
dist_correction: 0.0900000035762787
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 38
rot_correction: 0
vert_correction: -0.14471623301506
dist_correction: 0.119999997317791
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 39
rot_correction: 0.0226892791688442
vert_correction: -0.1387659907341
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 40
rot_correction: 0.0820304751396179
vert_correction: -0.0981878563761711
dist_correction: 0.129999995231628
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 41
rot_correction: 0.113446399569511
vert_correction: -0.0952560678124428
dist_correction: 0.159999996423721
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 42
rot_correction: 0.0698131695389748
vert_correction: -0.132818818092346
dist_correction: 0.159999996423721
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 43
rot_correction: 0.104719758033752
vert_correction: -0.127874463796616
dist_correction: 0.159999996423721
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 44
rot_correction: -0.068067841231823
vert_correction: -0.05375986546278
dist_correction: 0.129999995231628
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 45
rot_correction: -0.0349065847694874
vert_correction: -0.0478330813348293
dist_correction: 0.200000002980232
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 46
rot_correction: -0.0837758108973503
vert_correction: -0.0893256440758705
dist_correction: 0.170000001788139
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 47
rot_correction: -0.0479965545237064
vert_correction: -0.0833963677287102
dist_correction: 0.239999994635582
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 48
rot_correction: 0.00872664619237185
vert_correction: -0.0419059917330742
dist_correction: 0.180000007152557
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 49
rot_correction: 0.0392699092626572
vert_correction: -0.035978376865387
dist_correction: 0.0599999986588955
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 50
rot_correction: 0
vert_correction: -0.0774680152535439
dist_correction: 0.140000000596046
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 51
rot_correction: 0.0305432621389627
vert_correction: -0.0715404152870178
dist_correction: 0.150000005960464
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 52
rot_correction: 0.0855211317539215
vert_correction: -0.0300500374287367
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 53
rot_correction: 0.109083078801632
vert_correction: -0.024120757356286
dist_correction: 0.140000000596046
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 54
rot_correction: 0.0698131695389748
vert_correction: -0.0656133219599724
dist_correction: 0.0799999982118607
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 55
rot_correction: 0.104719758033752
vert_correction: -0.0596865378320217
dist_correction: 0.159999996423721
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 56
rot_correction: -0.0610865242779255
vert_correction: 0.0174280721694231
dist_correction: 0.119999997317791
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 57
rot_correction: -0.0349065847694874
vert_correction: 0.0233724191784859
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 58
rot_correction: -0.0785398185253143
vert_correction: -0.0181903336197138
dist_correction: 0.159999996423721
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 59
rot_correction: -0.0471238903701305
vert_correction: -0.0122585473582149
dist_correction: 0.259999990463257
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 60
rot_correction: 0.0104719763621688
vert_correction: 0.0293195936828852
dist_correction: 0.140000000596046
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 61
rot_correction: 0.0349065847694874
vert_correction: 0.0352698266506195
dist_correction: 0.219999998807907
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 62
rot_correction: -0.00436332309618592
vert_correction: -0.00632520206272602
dist_correction: 0.209999993443489
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
- laser_id: 63
rot_correction: 0.0296705979853868
vert_correction: -0.000390077300835401
dist_correction: 0.140000000596046
two_pt_correction_available: false
dist_correction_x: 0
dist_correction_y: 0
vert_offset_correction: 0
vert_offset_correction: 0
max_intensity: 255
min_intensity: 0
focal_distance: 0
focal_slope: 0
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_node_vlp16_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne VLP16 PCAP files -->
<launch>
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="model" value="VLP16"/>
<param name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
</node>
<!-- start cloud node with test calibration file -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
</node>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_node_vlp16_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_node_vlp16">
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_node_64e_s2.1_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 64E S2.1 PCAP files -->
<launch>
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="model" value="64E_S2.1"/>
<param name="pcap" value="$(find velodyne_pointcloud)/tests/64e_s2.1-300-sztaki.pcap"/>
<param name="rpm" value="300"/>
</node>
<!-- start cloud node with test calibration file -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/params/64e_s2.1-sztaki.yaml"/>
</node>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_node_64e_s21_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_node_64e_s21" >
<param name="hz" value="5.0" />
<param name="hzerror" value="1.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/test_db_without_intensities.xml
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<!DOCTYPE boost_serialization>
<boost_serialization signature="serialization::archive" version="4">
<DB class_id="0" tracking_level="1" version="0" object_id="_0">
<points_ class_id="7" tracking_level="0" version="0">
<count>64</count>
<item_version>1</item_version>
<item class_id="8" tracking_level="0" version="1">
<px class_id="9" tracking_level="1" version="1" object_id="_1">
<id_>0</id_>
<rotCorrection_>-5.3328056</rotCorrection_>
<vertCorrection_>-7.2988362</vertCorrection_>
<distCorrection_>111</distCorrection_>
<distCorrectionX_>118</distCorrectionX_>
<distCorrectionY_>118</distCorrectionY_>
<vertOffsetCorrection_>19.736338</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_2">
<id_>1</id_>
<rotCorrection_>-3.2344019</rotCorrection_>
<vertCorrection_>-6.9644198</vertCorrection_>
<distCorrection_>146</distCorrection_>
<distCorrectionX_>149</distCorrectionX_>
<distCorrectionY_>151</distCorrectionY_>
<vertOffsetCorrection_>19.778963</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_3">
<id_>2</id_>
<rotCorrection_>2.4376695</rotCorrection_>
<vertCorrection_>0.250889</vertCorrection_>
<distCorrection_>131.76823</distCorrection_>
<distCorrectionX_>136</distCorrectionX_>
<distCorrectionY_>136</distCorrectionY_>
<vertOffsetCorrection_>20.688799</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_4">
<id_>3</id_>
<rotCorrection_>4.7373252</rotCorrection_>
<vertCorrection_>0.55538797</vertCorrection_>
<distCorrection_>138.12656</distCorrection_>
<distCorrectionX_>142</distCorrectionX_>
<distCorrectionY_>144</distCorrectionY_>
<vertOffsetCorrection_>20.727015</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_5">
<id_>4</id_>
<rotCorrection_>-1.0502493</rotCorrection_>
<vertCorrection_>-6.6410818</vertCorrection_>
<distCorrection_>119</distCorrection_>
<distCorrectionX_>127</distCorrectionX_>
<distCorrectionY_>128</distCorrectionY_>
<vertOffsetCorrection_>19.82012</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_6">
<id_>5</id_>
<rotCorrection_>1.2386309</rotCorrection_>
<vertCorrection_>-6.2594609</vertCorrection_>
<distCorrection_>135</distCorrection_>
<distCorrectionX_>140</distCorrectionX_>
<distCorrectionY_>144</distCorrectionY_>
<vertOffsetCorrection_>19.868624</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_7">
<id_>6</id_>
<rotCorrection_>-1.8405367</rotCorrection_>
<vertCorrection_>-8.6656351</vertCorrection_>
<distCorrection_>132</distCorrection_>
<distCorrectionX_>135</distCorrectionX_>
<distCorrectionY_>137</distCorrectionY_>
<vertOffsetCorrection_>19.561426</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_8">
<id_>7</id_>
<rotCorrection_>0.4511103</rotCorrection_>
<vertCorrection_>-8.3104696</vertCorrection_>
<distCorrection_>145</distCorrection_>
<distCorrectionX_>145</distCorrectionX_>
<distCorrectionY_>149</distCorrectionY_>
<vertOffsetCorrection_>19.606993</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_9">
<id_>8</id_>
<rotCorrection_>3.2611551</rotCorrection_>
<vertCorrection_>-5.9352221</vertCorrection_>
<distCorrection_>116</distCorrection_>
<distCorrectionX_>122</distCorrectionX_>
<distCorrectionY_>121</distCorrectionY_>
<vertOffsetCorrection_>19.909781</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_10">
<id_>9</id_>
<rotCorrection_>5.4685535</rotCorrection_>
<vertCorrection_>-5.587399</vertCorrection_>
<distCorrection_>133.99889</distCorrection_>
<distCorrectionX_>140</distCorrectionX_>
<distCorrectionY_>142</distCorrectionY_>
<vertOffsetCorrection_>19.953875</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_11">
<id_>10</id_>
<rotCorrection_>2.4743285</rotCorrection_>
<vertCorrection_>-7.9891219</vertCorrection_>
<distCorrection_>117</distCorrection_>
<distCorrectionX_>125</distCorrectionX_>
<distCorrectionY_>123</distCorrectionY_>
<vertOffsetCorrection_>19.648148</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_12">
<id_>11</id_>
<rotCorrection_>4.7189918</rotCorrection_>
<vertCorrection_>-7.644258</vertCorrection_>
<distCorrection_>145</distCorrection_>
<distCorrectionX_>146</distCorrectionX_>
<distCorrectionY_>151</distCorrectionY_>
<vertOffsetCorrection_>19.692244</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_13">
<id_>12</id_>
<rotCorrection_>-5.3511744</rotCorrection_>
<vertCorrection_>-3.2475569</vertCorrection_>
<distCorrection_>118.71672</distCorrection_>
<distCorrectionX_>124</distCorrectionX_>
<distCorrectionY_>123</distCorrectionY_>
<vertOffsetCorrection_>20.249313</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_14">
<id_>13</id_>
<rotCorrection_>-3.1158857</rotCorrection_>
<vertCorrection_>-2.850472</vertCorrection_>
<distCorrection_>142.90839</distCorrection_>
<distCorrectionX_>148</distCorrectionX_>
<distCorrectionY_>149</distCorrectionY_>
<vertOffsetCorrection_>20.29929</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_15">
<id_>14</id_>
<rotCorrection_>-6.1270261</rotCorrection_>
<vertCorrection_>-5.204318</vertCorrection_>
<distCorrection_>120</distCorrection_>
<distCorrectionX_>127</distCorrectionX_>
<distCorrectionY_>124</distCorrectionY_>
<vertOffsetCorrection_>20.00238</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_16">
<id_>15</id_>
<rotCorrection_>-3.852011</rotCorrection_>
<vertCorrection_>-4.9137921</vertCorrection_>
<distCorrection_>137</distCorrection_>
<distCorrectionX_>144</distCorrectionX_>
<distCorrectionY_>144</distCorrectionY_>
<vertOffsetCorrection_>20.039125</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_17">
<id_>16</id_>
<rotCorrection_>-1.1109436</rotCorrection_>
<vertCorrection_>-2.4998751</vertCorrection_>
<distCorrection_>101.71324</distCorrection_>
<distCorrectionX_>111</distCorrectionX_>
<distCorrectionY_>109</distCorrectionY_>
<vertOffsetCorrection_>20.343384</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_18">
<id_>17</id_>
<rotCorrection_>1.1519098</rotCorrection_>
<vertCorrection_>-2.184176</vertCorrection_>
<distCorrection_>145.31258</distCorrection_>
<distCorrectionX_>153</distCorrectionX_>
<distCorrectionY_>157</distCorrectionY_>
<vertOffsetCorrection_>20.38307</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_19">
<id_>18</id_>
<rotCorrection_>-1.8682934</rotCorrection_>
<vertCorrection_>-4.5764661</vertCorrection_>
<distCorrection_>130</distCorrection_>
<distCorrectionX_>135</distCorrectionX_>
<distCorrectionY_>134</distCorrectionY_>
<vertOffsetCorrection_>20.081753</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_20">
<id_>19</id_>
<rotCorrection_>0.43604341</rotCorrection_>
<vertCorrection_>-4.2038751</vertCorrection_>
<distCorrection_>147</distCorrection_>
<distCorrectionX_>149</distCorrectionX_>
<distCorrectionY_>152</distCorrectionY_>
<vertOffsetCorrection_>20.128786</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_21">
<id_>20</id_>
<rotCorrection_>3.1763444</rotCorrection_>
<vertCorrection_>-1.798143</vertCorrection_>
<distCorrection_>115.82812</distCorrection_>
<distCorrectionX_>124</distCorrectionX_>
<distCorrectionY_>123</distCorrectionY_>
<vertOffsetCorrection_>20.431576</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_22">
<id_>21</id_>
<rotCorrection_>5.4284201</rotCorrection_>
<vertCorrection_>-1.49388</vertCorrection_>
<distCorrection_>146</distCorrection_>
<distCorrectionX_>152</distCorrectionX_>
<distCorrectionY_>154</distCorrectionY_>
<vertOffsetCorrection_>20.469791</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_23">
<id_>22</id_>
<rotCorrection_>2.4024715</rotCorrection_>
<vertCorrection_>-1.877563</vertCorrection_>
<distCorrection_>129.29713</distCorrection_>
<distCorrectionX_>137</distCorrectionX_>
<distCorrectionY_>136</distCorrectionY_>
<vertOffsetCorrection_>20.169943</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_24">
<id_>23</id_>
<rotCorrection_>4.6698937</rotCorrection_>
<vertCorrection_>-3.492661</vertCorrection_>
<distCorrection_>157.97737</distCorrection_>
<distCorrectionX_>162</distCorrectionX_>
<distCorrectionY_>165</distCorrectionY_>
<vertOffsetCorrection_>20.218447</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_25">
<id_>24</id_>
<rotCorrection_>-5.3977456</rotCorrection_>
<vertCorrection_>0.88327599</vertCorrection_>
<distCorrection_>124.12312</distCorrection_>
<distCorrectionX_>132</distCorrectionX_>
<distCorrectionY_>129</distCorrectionY_>
<vertOffsetCorrection_>20.768169</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_26">
<id_>25</id_>
<rotCorrection_>-3.1504908</rotCorrection_>
<vertCorrection_>1.234519</vertCorrection_>
<distCorrection_>128</distCorrection_>
<distCorrectionX_>135</distCorrectionX_>
<distCorrectionY_>138</distCorrectionY_>
<vertOffsetCorrection_>20.812265</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_27">
<id_>26</id_>
<rotCorrection_>-6.1759849</rotCorrection_>
<vertCorrection_>-1.177825</vertCorrection_>
<distCorrection_>133</distCorrection_>
<distCorrectionX_>140</distCorrectionX_>
<distCorrectionY_>139</distCorrectionY_>
<vertOffsetCorrection_>20.509478</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_28">
<id_>27</id_>
<rotCorrection_>-3.8819003</rotCorrection_>
<vertCorrection_>-0.86169797</vertCorrection_>
<distCorrection_>130</distCorrection_>
<distCorrectionX_>135</distCorrectionX_>
<distCorrectionY_>134</distCorrectionY_>
<vertOffsetCorrection_>20.549164</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_29">
<id_>28</id_>
<rotCorrection_>-1.1136208</rotCorrection_>
<vertCorrection_>1.585669</vertCorrection_>
<distCorrection_>131</distCorrection_>
<distCorrectionX_>137</distCorrectionX_>
<distCorrectionY_>137</distCorrectionY_>
<vertOffsetCorrection_>20.856361</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_30">
<id_>29</id_>
<rotCorrection_>1.0969903</rotCorrection_>
<vertCorrection_>1.925001</vertCorrection_>
<distCorrection_>131</distCorrection_>
<distCorrectionX_>139</distCorrectionX_>
<distCorrectionY_>142</distCorrectionY_>
<vertOffsetCorrection_>20.898987</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_31">
<id_>30</id_>
<rotCorrection_>-1.9088749</rotCorrection_>
<vertCorrection_>-0.486963</vertCorrection_>
<distCorrection_>138.48773</distCorrection_>
<distCorrectionX_>145</distCorrectionX_>
<distCorrectionY_>143</distCorrectionY_>
<vertOffsetCorrection_>20.596197</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_32">
<id_>31</id_>
<rotCorrection_>0.36758029</rotCorrection_>
<vertCorrection_>-0.123898</vertCorrection_>
<distCorrection_>137.21994</distCorrection_>
<distCorrectionX_>143</distCorrectionX_>
<distCorrectionY_>145</distCorrectionY_>
<vertOffsetCorrection_>20.641764</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_33">
<id_>32</id_>
<rotCorrection_>-8.3386211</rotCorrection_>
<vertCorrection_>-22.597513</vertCorrection_>
<distCorrection_>117</distCorrection_>
<distCorrectionX_>124</distCorrectionX_>
<distCorrectionY_>125</distCorrectionY_>
<vertOffsetCorrection_>10.828748</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_34">
<id_>33</id_>
<rotCorrection_>-4.7629819</rotCorrection_>
<vertCorrection_>-22.397568</vertCorrection_>
<distCorrection_>100</distCorrection_>
<distCorrectionX_>109</distCorrectionX_>
<distCorrectionY_>110</distCorrectionY_>
<vertOffsetCorrection_>10.854152</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_35">
<id_>34</id_>
<rotCorrection_>4.1516571</rotCorrection_>
<vertCorrection_>-11.576517</vertCorrection_>
<distCorrection_>130</distCorrection_>
<distCorrectionX_>128</distCorrectionX_>
<distCorrectionY_>130</distCorrectionY_>
<vertOffsetCorrection_>12.142142</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_36">
<id_>35</id_>
<rotCorrection_>7.3577185</rotCorrection_>
<vertCorrection_>-10.877901</vertCorrection_>
<distCorrection_>102</distCorrection_>
<distCorrectionX_>108</distCorrectionX_>
<distCorrectionY_>109</distCorrectionY_>
<vertOffsetCorrection_>12.220895</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_37">
<id_>36</id_>
<rotCorrection_>-1.2630961</rotCorrection_>
<vertCorrection_>-21.935509</vertCorrection_>
<distCorrection_>106</distCorrection_>
<distCorrectionX_>112</distCorrectionX_>
<distCorrectionY_>113</distCorrectionY_>
<vertOffsetCorrection_>10.912581</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_38">
<id_>37</id_>
<rotCorrection_>2.1595552</rotCorrection_>
<vertCorrection_>-21.409546</vertCorrection_>
<distCorrection_>91</distCorrection_>
<distCorrectionX_>100</distCorrectionX_>
<distCorrectionY_>101</distCorrectionY_>
<vertOffsetCorrection_>10.978632</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>0</focalDistance_>
<focalSlope_>0</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_39">
<id_>38</id_>
<rotCorrection_>-2.6141083</rotCorrection_>
<vertCorrection_>-25.066507</vertCorrection_>
<distCorrection_>127</distCorrection_>
<distCorrectionX_>126</distCorrectionX_>
<distCorrectionY_>126</distCorrectionY_>
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| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_node_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 64E PCAP files -->
<launch>
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
</node>
<!-- start cloud node with test calibration file -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
</node>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_node_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_node_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/64e_s2.1-sztaki.xml
|
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<px class_id_reference="9" object_id="_61">
<id_>60</id_>
<rotCorrection_>-0.67333692</rotCorrection_>
<vertCorrection_>-9.6190624</vertCorrection_>
<distCorrection_>143.78391</distCorrection_>
<distCorrectionX_>147.99687</distCorrectionX_>
<distCorrectionY_>148.89211</distCorrectionY_>
<vertOffsetCorrection_>12.361888</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>500</focalDistance_>
<focalSlope_>1.1</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_62">
<id_>61</id_>
<rotCorrection_>2.5721638</rotCorrection_>
<vertCorrection_>-9.0717077</vertCorrection_>
<distCorrection_>135.85466</distCorrection_>
<distCorrectionX_>141.35242</distCorrectionX_>
<distCorrectionY_>141.70488</distCorrectionY_>
<vertOffsetCorrection_>12.422858</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>200</focalDistance_>
<focalSlope_>0.89999998</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_63">
<id_>62</id_>
<rotCorrection_>-1.9503998</rotCorrection_>
<vertCorrection_>-12.416959</vertCorrection_>
<distCorrection_>144.78067</distCorrection_>
<distCorrectionX_>154.42529</distCorrectionX_>
<distCorrectionY_>155.12207</distCorrectionY_>
<vertOffsetCorrection_>12.046877</vertOffsetCorrection_>
<horizOffsetCorrection_>2.5999999</horizOffsetCorrection_>
<focalDistance_>1000</focalDistance_>
<focalSlope_>1</focalSlope_>
</px>
</item>
<item>
<px class_id_reference="9" object_id="_64">
<id_>63</id_>
<rotCorrection_>1.4242532</rotCorrection_>
<vertCorrection_>-12.070212</vertCorrection_>
<distCorrection_>143.29738</distCorrection_>
<distCorrectionX_>148.17114</distCorrectionX_>
<distCorrectionY_>149.54124</distCorrectionY_>
<vertOffsetCorrection_>12.086253</vertOffsetCorrection_>
<horizOffsetCorrection_>-2.5999999</horizOffsetCorrection_>
<focalDistance_>900</focalDistance_>
<focalSlope_>0.80000001</focalSlope_>
</px>
</item>
</points_>
</DB>
</boost_serialization>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_nodelet_64e_s2.1_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from 64E S2.1 PCAP data. -->
<launch>
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="64E_S2.1"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/64e_s2.1-300-sztaki.pcap"/>
<arg name="rpm" value="300"/>
</include>
<!-- start cloud nodelet using test calibration file -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration"
value="$(find velodyne_pointcloud)/params/64e_s2.1-sztaki.yaml"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_nodelet_64e_s21_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_nodelet_64e_s21" >
<param name="hz" value="5.0" />
<param name="hzerror" value="1.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/two_nodelet_managers.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing using two different nodelet managers. -->
<launch>
<!-- use separate namespaces for each device and its nodelet manager -->
<group ns="hdl32e">
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
<arg name="frame_id" value="hdl32e"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="multi_nodelet_32e_test" pkg="rostest"
type="hztest" name="hztest_multi_nodelet_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="/hdl32e/velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</group>
<group ns="vlp16">
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg name="frame_id" value="vlp16"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="multi_nodelet_vlp16_test" pkg="rostest"
type="hztest" name="hztest_multi_nodelet_vlp16" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="/vlp16/velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</group>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_node_32e_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 32E PCAP files -->
<launch>
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="model" value="32E"/>
<param name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
</node>
<!-- start cloud node with test calibration file -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/params/32db.yaml"/>
</node>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_node_32e_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_node_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/test_calibration.cpp
|
//
// C++ unit tests for calibration interface.
//
#include <gtest/gtest.h>
#include <ros/package.h>
#include <velodyne_pointcloud/calibration.h>
using namespace velodyne_pointcloud;
// global test data
std::string g_package_name("velodyne_pointcloud");
std::string g_package_path;
void init_global_data(void)
{
g_package_path = ros::package::getPath(g_package_name);
}
///////////////////////////////////////////////////////////////
// Test cases
///////////////////////////////////////////////////////////////
TEST(Calibration, missing_file)
{
Calibration calibration(false);
calibration.read("./no_such_file.yaml");
EXPECT_FALSE(calibration.initialized);
}
TEST(Calibration, vlp16)
{
Calibration calibration(g_package_path + "/params/VLP16db.yaml", false);
EXPECT_TRUE(calibration.initialized);
ASSERT_EQ(calibration.num_lasers, 16);
// check some values for the first laser:
LaserCorrection laser = calibration.laser_corrections[0];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.2617993877991494);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
// check similar values for the last laser:
laser = calibration.laser_corrections[15];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, 0.2617993877991494);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
}
TEST(Calibration, hdl32e)
{
Calibration calibration(g_package_path + "/params/32db.yaml", false);
EXPECT_TRUE(calibration.initialized);
ASSERT_EQ(calibration.num_lasers, 32);
// check some values for the first laser:
LaserCorrection laser = calibration.laser_corrections[0];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.5352924815866609);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
// check similar values for the last laser:
laser = calibration.laser_corrections[31];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, 0.18622663118779495);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
}
TEST(Calibration, hdl64e)
{
Calibration calibration(g_package_path + "/params/64e_utexas.yaml", false);
EXPECT_TRUE(calibration.initialized);
ASSERT_EQ(calibration.num_lasers, 64);
// check some values for the first laser:
LaserCorrection laser = calibration.laser_corrections[0];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.124932751059532);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
// check similar values for the last laser:
laser = calibration.laser_corrections[63];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.209881335496902);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
}
TEST(Calibration, hdl64e_s21)
{
Calibration calibration(g_package_path + "/params/64e_s2.1-sztaki.yaml",
false);
EXPECT_TRUE(calibration.initialized);
ASSERT_EQ(calibration.num_lasers, 64);
// check some values for the first laser:
LaserCorrection laser = calibration.laser_corrections[0];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.15304134919741974);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999);
EXPECT_EQ(laser.max_intensity, 235);
EXPECT_EQ(laser.min_intensity, 30);
// check similar values for the last laser:
laser = calibration.laser_corrections[63];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.2106649408137298);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
}
TEST(Calibration, hdl64e_s2_float_intensities)
{
Calibration calibration(g_package_path +
"/tests/issue_84_float_intensities.yaml",
false);
EXPECT_TRUE(calibration.initialized);
ASSERT_EQ(calibration.num_lasers, 64);
// check some values for the first laser:
LaserCorrection laser = calibration.laser_corrections[0];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.12118950050089745);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 40);
// check similar values for laser 26:
laser = calibration.laser_corrections[26];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.014916840599137901);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999);
EXPECT_EQ(laser.max_intensity, 245);
EXPECT_EQ(laser.min_intensity, 0);
// check similar values for the last laser:
laser = calibration.laser_corrections[63];
EXPECT_FALSE(laser.two_pt_correction_available);
EXPECT_FLOAT_EQ(laser.vert_correction, -0.20683046990039078);
EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999);
EXPECT_EQ(laser.max_intensity, 255);
EXPECT_EQ(laser.min_intensity, 0);
}
// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
init_global_data();
return RUN_ALL_TESTS();
}
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_nodelet_vlp16_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from PCAP data. -->
<launch>
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg name="frame_id" value="test_frame"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_nodelet_vlp16_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_nodelet_vlp16" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/tests/cloud_nodelet_hz.test
|
<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from PCAP data.
Uses rostest, because a running roscore is required.
$Id$
-->
<launch>
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
</include>
<!-- start cloud nodelet using test calibration file -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration"
value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_nodelet_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_nodelet_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/cfg/TransformNode.cfg
|
#!/usr/bin/env python
PACKAGE = "velodyne_pointcloud"
from math import pi
import dynamic_reconfigure.parameter_generator_catkin as pgc
gen = pgc.ParameterGenerator()
gen.add("min_range",
pgc.double_t,
0,
"min range to publish",
0.9, 0.1, 10.0)
gen.add("max_range",
pgc.double_t,
0,
"max range to publish",
130, 0.1, 200)
gen.add("view_direction",
pgc.double_t,
0,
"angle defining the center of view",
0.0, -pi, pi)
gen.add("view_width",
pgc.double_t,
0,
"angle defining the view width",
2*pi, 0.0, 2*pi)
gen.add("frame_id",
pgc.str_t,
0,
"new frame of reference for point clouds",
"odom")
exit(gen.generate(PACKAGE, "transform_node", "TransformNode"))
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/cfg/CloudNode.cfg
|
#!/usr/bin/env python
PACKAGE = "velodyne_pointcloud"
from math import pi
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("min_range", double_t, 0, "min range to publish", 0.9, 0.1, 10.0)
gen.add("max_range", double_t, 0, "max range to publish", 130, 0.1, 200)
gen.add("view_direction", double_t, 0, "angle defining the center of view",
0.0, -pi, pi)
gen.add("view_width", double_t, 0, "angle defining the view width",
2*pi, 0.0, 2*pi)
exit(gen.generate(PACKAGE, "cloud_node", "CloudNode"))
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/VeloView-VLP-32C.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: -0.024434609527920613,
vert_correction: -0.4363323129985824, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.07330382858376185,
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: -0.024434609527920613,
vert_correction: -0.029094638630745476, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
vert_correction: -0.2729520417193932, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.024434609527920613,
vert_correction: -0.19739673840055869, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
vert_correction: 0.0, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.07330382858376185,
vert_correction: -0.011641346110802179, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
vert_correction: -0.15433946575385857, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.024434609527920613,
vert_correction: -0.12660618393966866, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.07330382858376185,
vert_correction: 0.005811946409141118, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.024434609527920613,
vert_correction: -0.005811946409141118, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
vert_correction: -0.10730284241261137, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.07330382858376185,
vert_correction: -0.0930784090088576, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
vert_correction: 0.02326523892908441, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.07330382858376185,
vert_correction: 0.011641346110802179, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.024434609527920613,
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: 16, rot_correction: -0.024434609527920613,
vert_correction: -0.08145451619057535, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.07330382858376185,
vert_correction: 0.029094638630745476, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: -0.024434609527920613,
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: 19, rot_correction: 0.07330382858376185,
vert_correction: -0.06400122367063206, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: -0.07330382858376185,
vert_correction: -0.058171823968971005, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.024434609527920613,
vert_correction: 0.058171823968971005, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: -0.024434609527920613,
vert_correction: 0.04071853144902771, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.024434609527920613,
vert_correction: -0.04654793115068877, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: -0.024434609527920613,
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: 25, rot_correction: 0.024434609527920613,
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: 26, rot_correction: -0.024434609527920613,
vert_correction: 0.08145451619057535, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.07330382858376185,
vert_correction: -0.04071853144902771, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: -0.07330382858376185,
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: 29, rot_correction: 0.024434609527920613,
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: 30, rot_correction: -0.024434609527920613,
vert_correction: 0.18034487160857407, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.024434609527920613,
vert_correction: -0.02326523892908441, vert_offset_correction: 0.0}
num_lasers: 32
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/VeloView_VLS-128_FS1.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 0, rot_correction: -0.1108982206717197, vert_correction: -0.2049365607691742,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 1, rot_correction: -0.07937757438070212, vert_correction: -0.034732052114687155,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 2, rot_correction: -0.04768239516448509, vert_correction: 0.059341194567807204,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 3, rot_correction: -0.015899949485668342, vert_correction: -0.09232791743050003,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 4, rot_correction: 0.015899949485668342, vert_correction: -0.013613568165555772,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 5, rot_correction: 0.04768239516448509, vert_correction: 0.0804596785169386,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 6, rot_correction: 0.07937757438070212, vert_correction: -0.07120943348136864,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 7, rot_correction: 0.1108982206717197, vert_correction: 0.022863813201125717,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 8, rot_correction: -0.1108982206717197, vert_correction: -0.11344640137963143,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 9, rot_correction: -0.07937757438070212, vert_correction: -0.01937315469713706,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 10, rot_correction: -0.04768239516448509, vert_correction: 0.0747000919853573,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 11, rot_correction: -0.015899949485668342, vert_correction: -0.07696902001294993,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 12, rot_correction: 0.015899949485668342, vert_correction: 0.0017453292519943296,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 13, rot_correction: 0.04768239516448509, vert_correction: 0.11309733552923257,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 14, rot_correction: 0.07937757438070212, vert_correction: -0.05585053606381855,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 15, rot_correction: 0.1108982206717197, vert_correction: 0.03822271061867582,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 16, rot_correction: -0.1108982206717197, vert_correction: -0.06736970912698112,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 17, rot_correction: -0.07937757438070212, vert_correction: 0.026703537555513242,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 18, rot_correction: -0.04768239516448509, vert_correction: -0.16133823605435582,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 19, rot_correction: -0.015899949485668342, vert_correction: -0.030892327760299633,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 20, rot_correction: 0.015899949485668342, vert_correction: 0.04782202150464463,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 21, rot_correction: 0.04768239516448509, vert_correction: -0.10384709049366261,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 22, rot_correction: 0.07937757438070212, vert_correction: -0.009773843811168246,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 23, rot_correction: 0.1108982206717197, vert_correction: 0.08429940287132612,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 24, rot_correction: -0.1108982206717197, vert_correction: -0.05201081170943102,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 25, rot_correction: -0.07937757438070212, vert_correction: 0.04206243497306335,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 26, rot_correction: -0.04768239516448509, vert_correction: -0.1096066770252439,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 27, rot_correction: -0.015899949485668342, vert_correction: -0.015533430342749533,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 28, rot_correction: 0.015899949485668342, vert_correction: 0.06318091892219473,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 29, rot_correction: 0.04768239516448509, vert_correction: -0.08848819307611251,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 30, rot_correction: 0.07937757438070212, vert_correction: 0.005585053606381855,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 31, rot_correction: 0.1108982206717197, vert_correction: 0.1322959573011702,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 32, rot_correction: -0.1108982206717197, vert_correction: -0.005934119456780721,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 33, rot_correction: -0.07937757438070212, vert_correction: 0.09040805525330627,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 34, rot_correction: -0.04768239516448509, vert_correction: -0.0635299847725936,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 35, rot_correction: -0.015899949485668342, vert_correction: 0.030543261909900768,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 36, rot_correction: 0.015899949485668342, vert_correction: -0.4363323129985824,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 37, rot_correction: 0.04768239516448509, vert_correction: -0.04241150082346221,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 38, rot_correction: 0.07937757438070212, vert_correction: 0.05166174585903215,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 39, rot_correction: 0.1108982206717197, vert_correction: -0.10000736613927509,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 40, rot_correction: -0.1108982206717197, vert_correction: 0.00942477796076938,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 41, rot_correction: -0.07937757438070212, vert_correction: 0.16929693744344995,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 42, rot_correction: -0.04768239516448509, vert_correction: -0.04817108735504349,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 43, rot_correction: -0.015899949485668342, vert_correction: 0.04590215932745086,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 44, rot_correction: 0.015899949485668342, vert_correction: -0.13351768777756623,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 45, rot_correction: 0.04768239516448509, vert_correction: -0.027052603405912107,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 46, rot_correction: 0.07937757438070212, vert_correction: 0.06702064327658225,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 47, rot_correction: 0.1108982206717197, vert_correction: -0.08464846872172498,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 48, rot_correction: -0.1108982206717197, vert_correction: 0.05550147021341968,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 49, rot_correction: -0.07937757438070212, vert_correction: -0.09616764178488756,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 50, rot_correction: -0.04768239516448509, vert_correction: -0.0020943951023931952,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 51, rot_correction: -0.015899949485668342, vert_correction: 0.10000736613927509,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 52, rot_correction: 0.015899949485668342, vert_correction: -0.07504915783575616,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 53, rot_correction: 0.04768239516448509, vert_correction: 0.019024088846738195,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 54, rot_correction: 0.07937757438070212, vert_correction: -0.2799857186049304,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 55, rot_correction: 0.1108982206717197, vert_correction: -0.038571776469074684,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 56, rot_correction: -0.1108982206717197, vert_correction: 0.07086036763096977,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 57, rot_correction: -0.07937757438070212, vert_correction: -0.08080874436733745,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 58, rot_correction: -0.04768239516448509, vert_correction: 0.013264502315156905,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 59, rot_correction: -0.015899949485668342, 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, laser_id: 60, rot_correction: 0.015899949485668342, vert_correction: -0.05969026041820607,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 61, rot_correction: 0.04768239516448509, vert_correction: 0.03438298626428829,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 62, rot_correction: 0.07937757438070212, vert_correction: -0.11955505376161157,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 63, rot_correction: 0.1108982206717197, vert_correction: -0.023212879051524585,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 64, rot_correction: -0.1108982206717197, vert_correction: -0.09808750396208132,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 65, rot_correction: -0.07937757438070212, vert_correction: -0.004014257279586958,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 66, rot_correction: -0.04768239516448509, vert_correction: 0.0947713783832921,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 67, rot_correction: -0.015899949485668342, vert_correction: -0.06161012259539983,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 68, rot_correction: 0.015899949485668342, vert_correction: 0.01710422666954443,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 69, rot_correction: 0.04768239516448509, vert_correction: -0.34177037412552963,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 70, rot_correction: 0.07937757438070212, vert_correction: -0.040491638646268445,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 71, rot_correction: 0.1108982206717197, vert_correction: 0.053581608036225914,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 72, rot_correction: -0.1108982206717197, vert_correction: -0.08272860654453122,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 73, rot_correction: -0.07937757438070212, vert_correction: 0.011344640137963142,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 74, rot_correction: -0.04768239516448509, vert_correction: 0.20507618710933373,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 75, rot_correction: -0.015899949485668342, vert_correction: -0.046251225177849735,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 76, rot_correction: 0.015899949485668342, vert_correction: 0.03246312408709453,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 77, rot_correction: 0.04768239516448509, vert_correction: -0.12479104151759457,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 78, rot_correction: 0.07937757438070212, vert_correction: -0.025132741228718343,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 79, rot_correction: 0.1108982206717197, vert_correction: 0.06894050545377602,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 80, rot_correction: -0.1108982206717197, vert_correction: -0.03665191429188092,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 81, rot_correction: -0.07937757438070212, vert_correction: 0.05742133239061344,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 82, rot_correction: -0.04768239516448509, vert_correction: -0.0942477796076938,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 83, rot_correction: -0.015899949485668342, vert_correction: -0.00017453292519943296,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 84, rot_correction: 0.015899949485668342, vert_correction: 0.07853981633974483,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 85, rot_correction: 0.04768239516448509, vert_correction: -0.07312929565856241,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 86, rot_correction: 0.07937757438070212, vert_correction: 0.020943951023931952,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 87, rot_correction: 0.1108982206717197, vert_correction: -0.23675391303303078,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 88, rot_correction: -0.1108982206717197, vert_correction: -0.02129301687433082,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 89, rot_correction: -0.07937757438070212, vert_correction: 0.07278022980816354,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 90, rot_correction: -0.04768239516448509, vert_correction: -0.07888888219014369,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 91, rot_correction: -0.015899949485668342, vert_correction: 0.015184364492350668,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 92, rot_correction: 0.015899949485668342, vert_correction: 0.10611601852125524,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 93, rot_correction: 0.04768239516448509, vert_correction: -0.05777039824101231,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 94, rot_correction: 0.07937757438070212, vert_correction: 0.03630284844148206,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 95, rot_correction: 0.1108982206717197, vert_correction: -0.11606439525762292,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 96, rot_correction: -0.1108982206717197, vert_correction: 0.024783675378319478,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 97, rot_correction: -0.07937757438070212, vert_correction: -0.18057176441133332,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 98, rot_correction: -0.04768239516448509, vert_correction: -0.032812189937493394,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 99, rot_correction: -0.015899949485668342, vert_correction: 0.061261056745000965,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 100, rot_correction: 0.015899949485668342, vert_correction: -0.10576695267085637,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 101, rot_correction: 0.04768239516448509, vert_correction: -0.011693705988362009,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 102, rot_correction: 0.07937757438070212, vert_correction: 0.08237954069413235,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 103, rot_correction: 0.1108982206717197, vert_correction: -0.06928957130417489,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 104, rot_correction: -0.1108982206717197, vert_correction: 0.04014257279586958,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 105, rot_correction: -0.07937757438070212, vert_correction: -0.11152653920243766,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 106, rot_correction: -0.04768239516448509, 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, laser_id: 107, rot_correction: -0.015899949485668342, vert_correction: 0.07661995416255106,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 108, rot_correction: 0.015899949485668342, vert_correction: -0.09040805525330627,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 109, rot_correction: 0.04768239516448509, vert_correction: 0.003665191429188092,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 110, rot_correction: 0.07937757438070212, vert_correction: 0.12182398178920421,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 111, rot_correction: 0.1108982206717197, vert_correction: -0.05393067388662478,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 112, rot_correction: -0.1108982206717197, vert_correction: 0.08691739674931762,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 113, rot_correction: -0.07937757438070212, vert_correction: -0.06544984694978735,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 114, rot_correction: -0.04768239516448509, vert_correction: 0.028623399732707003,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 115, rot_correction: -0.015899949485668342, vert_correction: -0.1457698991265664,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 116, rot_correction: 0.015899949485668342, vert_correction: -0.044331363000655974,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 117, rot_correction: 0.04768239516448509, vert_correction: 0.04974188368183839,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 118, rot_correction: 0.07937757438070212, vert_correction: -0.10192722831646885,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 119, rot_correction: 0.1108982206717197, vert_correction: -0.007853981633974483,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 120, rot_correction: -0.1108982206717197, vert_correction: 0.14713125594312199,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 121, rot_correction: -0.07937757438070212, vert_correction: -0.05009094953223726,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 122, rot_correction: -0.04768239516448509, vert_correction: 0.0439822971502571,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 123, rot_correction: -0.015899949485668342, vert_correction: -0.10768681484805014,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 124, rot_correction: 0.015899949485668342, vert_correction: -0.02897246558310587,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 125, rot_correction: 0.04768239516448509, vert_correction: 0.0651007810993885,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 126, rot_correction: 0.07937757438070212, vert_correction: -0.08656833089891874,
vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, laser_id: 127, rot_correction: 0.1108982206717197, vert_correction: 0.007504915783575617,
vert_offset_correction: 0.0}
num_lasers: 128
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/rviz_points.vcg
|
Background\ ColorB=0
Background\ ColorG=0
Background\ ColorR=0
Camera\ Config=0.384797 3.10041 41.6639 0 0 0
Camera\ Type=rviz::OrbitViewController
Fixed\ Frame=/velodyne
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorB=0.5
Grid.ColorG=0.5
Grid.ColorR=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Property\ Grid\ Splitter=751,78
Property\ Grid\ State=expanded=.Global Options,Grid.Enabled,Velodyne Cloud.Enabled;splitterratio=0.5
QMainWindow=000000ff00000000fd00000003000000000000011d0000038ffc0200000001fb000000100044006900730070006c006100790073010000001d0000038f000000ee00ffffff00000001000001300000038ffc0200000003fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000001d0000011f0000006700fffffffb0000000a00560069006500770073010000014200000145000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000028d0000011f0000006700ffffff00000003000005d10000003efc0100000001fb0000000800540069006d00650100000000000005d1000002bf00ffffff000003780000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
TF.All\ Enabled=1
TF.Enabled=1
TF.Frame\ Timeout=15
TF.Marker\ Scale=1
TF.Show\ Arrows=1
TF.Show\ Axes=1
TF.Show\ Names=1
TF.Update\ Interval=0
Target\ Frame=<Fixed Frame>
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Velodyne\ Cloud..AxisColorAutocompute\ Value\ Bounds=1
Velodyne\ Cloud..AxisColorAxis=2
Velodyne\ Cloud..AxisColorMax\ Value=10
Velodyne\ Cloud..AxisColorMin\ Value=-10
Velodyne\ Cloud..AxisColorUse\ Fixed\ Frame=1
Velodyne\ Cloud..FlatColorColorB=1
Velodyne\ Cloud..FlatColorColorG=1
Velodyne\ Cloud..FlatColorColorR=1
Velodyne\ Cloud..IntensityAutocompute\ Intensity\ Bounds=1
Velodyne\ Cloud..IntensityChannel\ Name=intensity
Velodyne\ Cloud..IntensityMax\ ColorB=1
Velodyne\ Cloud..IntensityMax\ ColorG=0.776471
Velodyne\ Cloud..IntensityMax\ ColorR=0.796078
Velodyne\ Cloud..IntensityMax\ Intensity=255
Velodyne\ Cloud..IntensityMin\ ColorB=1
Velodyne\ Cloud..IntensityMin\ ColorG=0.0823529
Velodyne\ Cloud..IntensityMin\ ColorR=0.141176
Velodyne\ Cloud..IntensityMin\ Intensity=95
Velodyne\ Cloud..IntensityUse\ full\ RGB\ spectrum=0
Velodyne\ Cloud.Alpha=1
Velodyne\ Cloud.Billboard\ Size=0.1
Velodyne\ Cloud.Color\ Transformer=Intensity
Velodyne\ Cloud.Decay\ Time=0
Velodyne\ Cloud.Enabled=1
Velodyne\ Cloud.Position\ Transformer=XYZ
Velodyne\ Cloud.Queue\ Size=10
Velodyne\ Cloud.Selectable=1
Velodyne\ Cloud.Style=0
Velodyne\ Cloud.Topic=/velodyne_points
[Display0]
ClassName=rviz::GridDisplay
Name=Grid
[Display1]
ClassName=rviz::TFDisplay
Name=TF
[Display2]
ClassName=rviz::PointCloud2Display
Name=Velodyne Cloud
[Window]
Height=1045
Width=1505
X=-8
Y=-29
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/VLP16db.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-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/32db.yaml
|
# standard Velodyne HDL-32E calibration parameters
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: -0.5352924815866609, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.1628392174657417, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.5119050696099369, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.13962634015954636, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.4886921905584123, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.11641346285335104, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.4654793115068877, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.09302604738596851, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.44209189953016365, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.06981317007977318, 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: 10, rot_correction: 0.0,
vert_correction: -0.4188790204786391, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.046600292773577856, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.39566614142711454, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.023212879051524585, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.3722787294503905, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.0, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.3490658503988659, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.023212879051524585, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.32585297134734137, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.046600292773577856, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.30246555937061725, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, 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: 22, rot_correction: 0.0,
vert_correction: -0.2792526803190927, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.09302604738596851, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.25603980126756815, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.11641346285335104, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.23265238929084414, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.13962634015954636, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.20943951023931956, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.1628392174657417, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: -0.18622663118779495, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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, rot_correction: 0.0,
vert_correction: 0.18622663118779495, vert_offset_correction: 0.0}
num_lasers: 32
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/VLP16_hires_db.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: -0.17453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.011635528346628864, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.15126186850617523, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.03490658503988659, 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: 4, rot_correction: 0.0,
vert_correction: -0.1279908118129175, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.05817764173314432, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.10471975511965977, 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: 7, rot_correction: 0.0,
vert_correction: 0.08144869842640205, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.08144869842640205, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.10471975511965977, 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: 10, rot_correction: 0.0,
vert_correction: -0.05817764173314432, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.1279908118129175, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.03490658503988659, 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: 13, rot_correction: 0.0,
vert_correction: 0.15126186850617523, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: -0.011635528346628864, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_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: 0.17453292519943295, vert_offset_correction: 0.0}
num_lasers: 16
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/64e_utexas.yaml
|
# University of Texas HDL-64E calibration parameters
lasers:
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532,
vert_offset_correction: 0}
- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727,
vert_offset_correction: 0}
- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627,
vert_offset_correction: 0}
- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0,
rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359,
vert_offset_correction: 0}
- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0,
rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0,
rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293,
vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705,
vert_offset_correction: 0}
- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0,
rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742,
vert_offset_correction: 0}
- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0,
rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286,
vert_offset_correction: 0}
- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859,
vert_offset_correction: 0}
- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138,
vert_offset_correction: 0}
- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195,
vert_offset_correction: 0}
- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0,
rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401,
vert_offset_correction: 0}
- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0,
rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691,
vert_offset_correction: 0}
- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493,
vert_offset_correction: 0}
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0,
rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942,
vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0,
rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472,
vert_offset_correction: 0}
- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118,
vert_offset_correction: 0}
- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0,
rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853,
vert_offset_correction: 0}
- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0,
rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941,
vert_offset_correction: 0}
- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0,
rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0,
rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0,
rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323,
vert_offset_correction: 0}
- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752,
vert_offset_correction: 0}
- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733,
vert_offset_correction: 0}
- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0,
rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471,
vert_offset_correction: 0}
- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0,
rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795,
vert_offset_correction: 0}
- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0,
rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318,
vert_offset_correction: 0}
- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0,
rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522,
vert_offset_correction: 0}
- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0,
rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764,
vert_offset_correction: 0}
- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371,
vert_offset_correction: 0}
- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0,
rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531,
vert_offset_correction: 0}
- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143,
two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0}
- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0,
rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213,
vert_offset_correction: 0}
- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0,
rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161,
vert_offset_correction: 0}
- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0,
focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0,
rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902,
vert_offset_correction: 0}
num_lasers: 64
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml
|
lasers:
- {dist_correction: 1.5195264000000002, dist_correction_x: 1.5500304, dist_correction_y: 1.5231381,
focal_distance: 12.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 0,
max_intensity: 235.0, min_intensity: 30.0, rot_correction: -0.1248942899601548,
vert_correction: -0.15304134919741974, vert_offset_correction: 0.19548199}
- {dist_correction: 1.5145139, dist_correction_x: 1.5256960000000002, dist_correction_y: 1.5491043,
focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 1,
min_intensity: 40.0, rot_correction: -0.06924466398252106, vert_correction: -0.1458455539136526,
vert_offset_correction: 0.19601112}
- {dist_correction: 1.4963768, dist_correction_x: 1.5571011, dist_correction_y: 1.5456782999999998,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 2, min_intensity: 60.0, rot_correction: 0.0824016906676694, vert_correction: 0.04339494149708345,
vert_offset_correction: 0.20969539999999998}
- {dist_correction: 1.3771207, dist_correction_x: 1.4103835, dist_correction_y: 1.4343457000000002,
focal_distance: 9.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 3,
min_intensity: 20.0, rot_correction: 0.137808349360133, vert_correction: 0.05196082373432465,
vert_offset_correction: 0.21031273}
- {dist_correction: 1.2947885, dist_correction_x: 1.3720455999999999, dist_correction_y: 1.4025244000000001,
focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 4,
min_intensity: 50.0, rot_correction: -0.011199603626188263, vert_correction: -0.1358262679404349,
vert_offset_correction: 0.19674603999999998}
- {dist_correction: 1.4395787000000002, dist_correction_x: 1.4801956, dist_correction_y: 1.5074649,
focal_distance: 7.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 5,
min_intensity: 30.0, rot_correction: 0.045795414990398894, vert_correction: -0.12678532627942263,
vert_offset_correction: 0.19740747}
- {dist_correction: 1.3618773, dist_correction_x: 1.4004077000000001, dist_correction_y: 1.3900876,
focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 6,
min_intensity: 65.0, rot_correction: -0.031646046452444135, vert_correction: -0.1895564226946273,
vert_offset_correction: 0.19277746}
- {dist_correction: 1.5325716, dist_correction_x: 1.5337143, dist_correction_y: 1.5452948000000002,
focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 7,
min_intensity: 10.0, rot_correction: 0.023408326257150665, vert_correction: -0.18086723120040343,
vert_offset_correction: 0.19342419}
- {dist_correction: 1.3743323, dist_correction_x: 1.4474606, dist_correction_y: 1.4533472,
focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 8,
min_intensity: 30.0, rot_correction: 0.10065885915180103, vert_correction: -0.11973897655818674,
vert_offset_correction: 0.19792192}
- {dist_correction: 1.4969112000000002, dist_correction_x: 1.4754176, dist_correction_y: 1.4888799000000001,
focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 9,
min_intensity: 10.0, rot_correction: 0.15996423607269877, vert_correction: -0.10924820210484752,
vert_offset_correction: 0.19868624000000001}
- {dist_correction: 1.434263, dist_correction_x: 1.4957901000000002, dist_correction_y: 1.5191892999999999,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 10, min_intensity: 35.0, rot_correction: 0.08313316164783874, vert_correction: -0.17135657256846043,
vert_offset_correction: 0.19412970999999998}
- {dist_correction: 1.5500841, dist_correction_x: 1.542697, dist_correction_y: 1.5716737,
focal_distance: 8.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 11,
min_intensity: 30.0, rot_correction: 0.13862572370075624, vert_correction: -0.1630088948849621,
vert_offset_correction: 0.19474705}
- {dist_correction: 1.3725992, dist_correction_x: 1.4353555, dist_correction_y: 1.3932405,
focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 12,
min_intensity: 50.0, rot_correction: -0.1255805045528199, vert_correction: -0.04526314018308893,
vert_offset_correction: 0.20331627000000002}
- {dist_correction: 1.3111591000000002, dist_correction_x: 1.3470857, dist_correction_y: 1.3652054000000002,
focal_distance: 6.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 13, min_intensity: 30.0, rot_correction: -0.06716508498014805, vert_correction: -0.03587557613263058,
vert_offset_correction: 0.20399239000000002}
- {dist_correction: 1.5360803, dist_correction_x: 1.5528035, dist_correction_y: 1.5666801000000001,
focal_distance: 8.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 14,
min_intensity: 20.0, rot_correction: -0.14578889529014513, vert_correction: -0.09893566067472198,
vert_offset_correction: 0.19943586}
- {dist_correction: 1.4755448999999998, dist_correction_x: 1.5032428, dist_correction_y: 1.5326752,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 15, min_intensity: 30.0, rot_correction: -0.08892898296002069, vert_correction: -0.09062974348423608,
vert_offset_correction: 0.20003851}
- {dist_correction: 1.4410587000000001, dist_correction_x: 1.4870845, dist_correction_y: 1.4627965,
focal_distance: 18.0, focal_slope: 0.5, horiz_offset_correction: 0.025999999, laser_id: 16,
min_intensity: 40.0, rot_correction: -0.013006177528832626, vert_correction: -0.02770725895504266,
vert_offset_correction: 0.20458033}
- {dist_correction: 1.4434521, dist_correction_x: 1.4897508, dist_correction_y: 1.4791382,
focal_distance: 11.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 17, min_intensity: 55.0, rot_correction: 0.04596628970548614, vert_correction: -0.02014825541794774,
vert_offset_correction: 0.20512417}
- {dist_correction: 1.3243448000000002, dist_correction_x: 1.3816666000000002, dist_correction_y: 1.3647719,
focal_distance: 12.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 18,
min_intensity: 10.0, rot_correction: -0.03237303019110658, vert_correction: -0.08210824496987311,
vert_offset_correction: 0.20065581999999998}
- {dist_correction: 1.4565853999999998, dist_correction_x: 1.4340645, dist_correction_y: 1.4550516,
focal_distance: 20.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 19, min_intensity: 30.0, rot_correction: 0.02431275238487562, vert_correction: -0.0727614640280461,
vert_offset_correction: 0.20133196000000003}
- {dist_correction: 1.3313776, dist_correction_x: 1.3819601000000001, dist_correction_y: 1.3847791,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 20, min_intensity: 45.0, rot_correction: 0.10029393174916004, vert_correction: -0.009929893699589059,
vert_offset_correction: 0.20585909000000002}
- {dist_correction: 1.3787535, dist_correction_x: 1.3978789, dist_correction_y: 1.4257806,
focal_distance: 10.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 21,
min_intensity: 35.0, rot_correction: 0.15867894419560363, vert_correction: -0.0037977317325845416,
vert_offset_correction: 0.20630005}
- {dist_correction: 1.3419412, dist_correction_x: 1.4059189, dist_correction_y: 1.4113303,
focal_distance: 11.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 22,
min_intensity: 40.0, rot_correction: 0.08044522544540282, vert_correction: -0.06482699129962814,
vert_offset_correction: 0.20190518999999998}
- {dist_correction: 1.4338304, dist_correction_x: 1.4212059, dist_correction_y: 1.4900565000000001,
focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 23,
min_intensity: 55.0, rot_correction: 0.13867708175932542, vert_correction: -0.05566171063737453,
vert_offset_correction: 0.20256662}
- {dist_correction: 1.4930911, dist_correction_x: 1.5572188, dist_correction_y: 1.5182672,
focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 24,
min_intensity: 25.0, rot_correction: -0.12505298227706313, vert_correction: 0.06113007152996804,
vert_offset_correction: 0.21097416}
- {dist_correction: 1.4367653000000002, dist_correction_x: 1.4614236, dist_correction_y: 1.4587589,
focal_distance: 3.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 25,
min_intensity: 50.0, rot_correction: -0.06814826559971075, vert_correction: 0.06988221181432357,
vert_offset_correction: 0.21160620000000002}
- {dist_correction: 1.5279892000000002, dist_correction_x: 1.5686107999999999, dist_correction_y: 1.55737,
focal_distance: 7.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 26,
min_intensity: 30.0, rot_correction: -0.14531660046790917, vert_correction: 0.00887576771486082,
vert_offset_correction: 0.20721134}
- {dist_correction: 1.5077638, dist_correction_x: 1.5453738000000001, dist_correction_y: 1.5483368,
focal_distance: 4.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 27, min_intensity: 30.0, rot_correction: -0.08904354811745085, vert_correction: 0.017050959569839413,
vert_offset_correction: 0.20779928000000003}
- {dist_correction: 1.3627797000000001, dist_correction_x: 1.4232985, dist_correction_y: 1.4116524000000001,
focal_distance: 4.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 28,
min_intensity: 50.0, rot_correction: -0.012061568860271928, vert_correction: 0.07842048992411524,
vert_offset_correction: 0.21222351}
- {dist_correction: 1.3749608, dist_correction_x: 1.4045798, dist_correction_y: 1.4006630999999998,
focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 29,
min_intensity: 40.0, rot_correction: 0.043892943273872005, vert_correction: 0.08674443287511571,
vert_offset_correction: 0.21282616000000001}
- {dist_correction: 1.2940709000000001, dist_correction_x: 1.392794, dist_correction_y: 1.3225565000000001,
focal_distance: 8.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 30, min_intensity: 90.0, rot_correction: -0.033068739374902546, vert_correction: 0.02522388232225749,
vert_offset_correction: 0.20838722}
- {dist_correction: 1.3907666, dist_correction_x: 1.4365166, dist_correction_y: 1.4501437000000001,
focal_distance: 9.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 31,
min_intensity: 5.0, rot_correction: 0.025535290948715324, vert_correction: 0.034414332377654115,
vert_offset_correction: 0.20904865}
- {dist_correction: 1.3461819, dist_correction_x: 1.3678523000000002, dist_correction_y: 1.3552880999999999,
focal_distance: 11.0, focal_slope: 1.5, horiz_offset_correction: 0.025999999, laser_id: 32,
min_intensity: 45.0, rot_correction: -0.13309965698710405, vert_correction: -0.39666389380060213,
vert_offset_correction: 0.10812234999999999}
- {dist_correction: 1.2487466, dist_correction_x: 1.2929747, dist_correction_y: 1.3438803,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 33, min_intensity: 35.0, rot_correction: -0.07241159183553281, vert_correction: -0.39021216204755743,
vert_offset_correction: 0.10859233}
- {dist_correction: 1.5016498000000003, dist_correction_x: 1.5384890999999998, dist_correction_y: 1.5506186,
focal_distance: 4.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 34,
min_intensity: 20.0, rot_correction: 0.08292710807634829, vert_correction: -0.2010672181773803,
vert_offset_correction: 0.12148494}
- {dist_correction: 1.2495708, dist_correction_x: 1.2891127, dist_correction_y: 1.2943669,
focal_distance: 11.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 35,
min_intensity: 25.0, rot_correction: 0.14006506182829093, vert_correction: -0.19103771853737994,
vert_offset_correction: 0.12213274}
- {dist_correction: 1.2674536, dist_correction_x: 1.3298663, dist_correction_y: 1.3577469,
focal_distance: 6.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 36, min_intensity: 35.0, rot_correction: -0.012004346320883118, vert_correction: -0.3819670695815035,
vert_offset_correction: 0.10918932}
- {dist_correction: 1.2481956, dist_correction_x: 1.28627, dist_correction_y: 1.29235,
focal_distance: 14.5, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 37,
min_intensity: 30.0, rot_correction: 0.04832190474636683, vert_correction: -0.3718940414299584,
vert_offset_correction: 0.10991334}
- {dist_correction: 1.4516722, dist_correction_x: 1.4842308, dist_correction_y: 1.4868384000000001,
focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38,
min_intensity: 55.0, rot_correction: -0.03583078923869515, vert_correction: -0.4336284663746853,
vert_offset_correction: 0.1053787}
- {dist_correction: 1.3843003999999999, dist_correction_x: 1.4010727, dist_correction_y: 1.4332015999999999,
focal_distance: 6.5, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 39,
min_intensity: 40.0, rot_correction: 0.026883486237381612, vert_correction: -0.4261966798867682,
vert_offset_correction: 0.10593759000000001}
- {dist_correction: 1.244738, dist_correction_x: 1.3131859000000001, dist_correction_y: 1.354245,
focal_distance: 6.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 40,
min_intensity: 25.0, rot_correction: 0.1076316048478218, vert_correction: -0.3640637439139335,
vert_offset_correction: 0.11047223}
- {dist_correction: 1.3284543, dist_correction_x: 1.3295518000000002, dist_correction_y: 1.3809489,
focal_distance: 12.5, focal_slope: 1.7, horiz_offset_correction: -0.025999999, laser_id: 41,
min_intensity: 50.0, rot_correction: 0.1679293847080498, vert_correction: -0.3511493721000192,
vert_offset_correction: 0.11138678}
- {dist_correction: 1.4055542, dist_correction_x: 1.4426663, dist_correction_y: 1.430847,
focal_distance: 1.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 42,
min_intensity: 10.0, rot_correction: 0.0861156692854385, vert_correction: -0.4163231777753111,
vert_offset_correction: 0.10667431000000001}
- {dist_correction: 1.3529747, dist_correction_x: 1.3834917999999998, dist_correction_y: 1.4029074,
focal_distance: 6.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 43,
min_intensity: 35.0, rot_correction: 0.15024020221305323, vert_correction: -0.4046365927302973,
vert_offset_correction: 0.10753805}
- {dist_correction: 1.2407380000000001, dist_correction_x: 1.3171521000000002, dist_correction_y: 1.2836400000000001,
focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 44,
max_intensity: 220.0, rot_correction: -0.12998527227122358, vert_correction: -0.28892197890806653,
vert_offset_correction: 0.11568009}
- {dist_correction: 1.5288051999999999, dist_correction_x: 1.5904514, dist_correction_y: 1.6288455,
focal_distance: 10.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 45, rot_correction: -0.07009281894983248, vert_correction: -0.28120381879648226,
vert_offset_correction: 0.11620087}
- {dist_correction: 1.5423979, dist_correction_x: 1.5919412, dist_correction_y: 1.610177,
focal_distance: 13.0, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 46,
rot_correction: -0.1533711640661691, vert_correction: -0.34156398894148127, vert_offset_correction: 0.11205999}
- {dist_correction: 1.3086252999999999, dist_correction_x: 1.3737134, dist_correction_y: 1.4177727,
focal_distance: 5.5, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 47, rot_correction: -0.0927890927600715, vert_correction: -0.3348332488542128,
vert_offset_correction: 0.11252997}
- {dist_correction: 1.3405330000000002, dist_correction_x: 1.4512436, dist_correction_y: 1.4471467999999998,
focal_distance: 13.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 48,
rot_correction: -0.012004348415278218, vert_correction: -0.2738300470529015, vert_offset_correction: 0.11669625}
- {dist_correction: 1.2994545, dist_correction_x: 1.3971343999999999, dist_correction_y: 1.36849,
focal_distance: 14.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 49,
rot_correction: 0.047471358677980184, vert_correction: -0.2649030020882158, vert_offset_correction: 0.11729325}
- {dist_correction: 1.4499762999999999, dist_correction_x: 1.5111346, dist_correction_y: 1.542395,
focal_distance: 13.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 50,
rot_correction: -0.03378136079915033, vert_correction: -0.32678797913421975, vert_offset_correction: 0.11308886}
- {dist_correction: 1.3516956, dist_correction_x: 1.4231836999999998, dist_correction_y: 1.4301146,
focal_distance: 13.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 51,
rot_correction: 0.025334358173250228, vert_correction: -0.3179609589889659, vert_offset_correction: 0.11369856}
- {dist_correction: 1.2374236, dist_correction_x: 1.308008, dist_correction_y: 1.3549429000000002,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999,
laser_id: 52, rot_correction: 0.10481975724981128, vert_correction: -0.25478428121685354,
vert_offset_correction: 0.11796646000000001}
- {dist_correction: 1.3730562000000002, dist_correction_x: 1.403678, dist_correction_y: 1.4347415000000001,
focal_distance: 13.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 53,
rot_correction: 0.16311715242247551, vert_correction: -0.24576616497179882, vert_offset_correction: 0.11856346000000001}
- {dist_correction: 1.4445888, dist_correction_x: 1.5025624, dist_correction_y: 1.5189749000000001,
focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 54,
rot_correction: 0.08384971878954978, vert_correction: -0.31000962288931516, vert_offset_correction: 0.11424474999999999}
- {dist_correction: 1.3861449, dist_correction_x: 1.4228815000000001, dist_correction_y: 1.4620186000000002,
focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: -0.025999999, laser_id: 55,
rot_correction: 0.14374613400834294, vert_correction: -0.2986601307360315, vert_offset_correction: 0.11501958000000001}
- {dist_correction: 1.4635341, dist_correction_x: 1.5232283000000002, dist_correction_y: 1.5063837000000002,
focal_distance: 13.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 56,
rot_correction: -0.12741928396895377, vert_correction: -0.18393445537456576, vert_offset_correction: 0.12259002000000001}
- {dist_correction: 1.3715826000000002, dist_correction_x: 1.4186972, dist_correction_y: 1.4328435,
focal_distance: 3.5, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 57,
rot_correction: -0.06853129555735342, vert_correction: -0.1744342722087932, vert_offset_correction: 0.12319972}
- {dist_correction: 1.4644831999999999, dist_correction_x: 1.5095984000000002, dist_correction_y: 1.5149265,
focal_distance: 11.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 58,
rot_correction: -0.1497316045423758, vert_correction: -0.23400086557751998, vert_offset_correction: 0.11933828}
- {dist_correction: 1.3074548, dist_correction_x: 1.3521214000000001, dist_correction_y: 1.3830151000000002,
focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 59, rot_correction: -0.08973572126418226, vert_correction: -0.22644383426247983,
vert_offset_correction: 0.11983367}
- {dist_correction: 1.4378391, dist_correction_x: 1.4799687000000001, dist_correction_y: 1.4889211,
focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 60,
rot_correction: -0.011751946229237658, vert_correction: -0.1678843098347878, vert_offset_correction: 0.12361888}
- {dist_correction: 1.3585466, dist_correction_x: 1.4135242, dist_correction_y: 1.4170488,
focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999,
laser_id: 61, rot_correction: 0.04489272721060892, vert_correction: -0.158331168143522,
vert_offset_correction: 0.12422858}
- {dist_correction: 1.4478067, dist_correction_x: 1.5442529, dist_correction_y: 1.5512207,
focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 62,
rot_correction: -0.0340408982402389, vert_correction: -0.21671681763514258, vert_offset_correction: 0.12046877}
- {dist_correction: 1.4329738, dist_correction_x: 1.4817114, dist_correction_y: 1.4954124,
focal_distance: 9.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 63, rot_correction: 0.024857907722065305, vert_correction: -0.2106649408137298,
vert_offset_correction: 0.12086253}
num_lasers: 64
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/scripts/gen_calibration.py
|
#!/usr/bin/python
# Software License Agreement (BSD License)
#
# Copyright (C) 2012, Austin Robot Technology
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Austin Robot Technology, Inc. nor the names
# of its contributors may be used to endorse or promote products
# derived from this software without specific prior written
# permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Revision $Id$
"""
Generate YAML calibration file from Velodyne db.xml.
The input data provided by the manufacturer are in degrees and
centimeters. The YAML file uses radians and meters, following ROS
standards [REP-0103].
"""
from __future__ import print_function
import math
import optparse
import os
import sys
from xml.etree import ElementTree
import yaml
# parse the command line
usage = """usage: %prog infile.xml [outfile.yaml]
Default output file is input file with .yaml suffix."""
parser = optparse.OptionParser(usage=usage)
options, args = parser.parse_args()
if len(args) < 1:
parser.error('XML file name missing')
sys.exit(9)
xmlFile = args[0]
if len(args) >= 2:
yamlFile = args[1]
else:
yamlFile, ext = os.path.splitext(xmlFile)
yamlFile += '.yaml'
print('converting "' + xmlFile + '" to "' + yamlFile + '"')
calibrationGood = True
def xmlError(msg):
'handle XML calibration error'
global calibrationGood
calibrationGood = False
print('gen_calibration.py: ' + msg)
db = None
try:
db = ElementTree.parse(xmlFile)
except IOError:
xmlError('unable to read ' + xmlFile)
except ElementTree.ParseError:
xmlError('XML parse failed for ' + xmlFile)
if not calibrationGood:
sys.exit(2)
# create a dictionary to hold all relevant calibration values
calibration = {'num_lasers': 0, 'lasers': []}
cm2meters = 0.01 # convert centimeters to meters
def addLaserCalibration(laser_num, key, val):
'Define key and corresponding value for laser_num'
global calibration
if laser_num < len(calibration['lasers']):
calibration['lasers'][laser_num][key] = val
else:
calibration['lasers'].append({key: val})
# add enabled flags
num_enabled = 0
enabled_lasers = []
enabled = db.find('DB/enabled_')
if enabled == None:
print('no enabled tags found: assuming all 64 enabled')
num_enabled = 64
enabled_lasers = [True for i in xrange(num_enabled)]
else:
index = 0
for el in enabled:
if el.tag == 'item':
this_enabled = int(el.text) != 0
enabled_lasers.append(this_enabled)
index += 1
if this_enabled:
num_enabled += 1
calibration['num_lasers'] = num_enabled
print(str(num_enabled) + ' lasers')
# add minimum laser intensities
minIntensities = db.find('DB/minIntensity_')
if minIntensities != None:
index = 0
for el in minIntensities:
if el.tag == 'item':
if enabled_lasers[index]:
value = int(el.text)
if value != 0:
addLaserCalibration(index, 'min_intensity', value)
index += 1
# add maximum laser intensities
maxIntensities = db.find('DB/maxIntensity_')
if maxIntensities != None:
index = 0
for el in maxIntensities:
if el.tag == 'item':
if enabled_lasers[index]:
value = int(el.text)
if value != 255:
addLaserCalibration(index, 'max_intensity', value)
index += 1
# add calibration information for each laser
for el in db.find('DB/points_'):
if el.tag == 'item':
for px in el:
for field in px:
if field.tag == 'id_':
index = int(field.text)
if not enabled_lasers[index]:
break # skip this laser, it is not enabled
addLaserCalibration(index, 'laser_id', index)
if field.tag == 'rotCorrection_':
addLaserCalibration(index, 'rot_correction',
math.radians(float(field.text)))
elif field.tag == 'vertCorrection_':
addLaserCalibration(index, 'vert_correction',
math.radians(float(field.text)))
elif field.tag == 'distCorrection_':
addLaserCalibration(index, 'dist_correction',
float(field.text) * cm2meters)
elif field.tag == 'distCorrectionX_':
addLaserCalibration(index, 'dist_correction_x',
float(field.text) * cm2meters)
elif field.tag == 'distCorrectionY_':
addLaserCalibration(index, 'dist_correction_y',
float(field.text) * cm2meters)
elif field.tag == 'vertOffsetCorrection_':
addLaserCalibration(index, 'vert_offset_correction',
float(field.text) * cm2meters)
elif field.tag == 'horizOffsetCorrection_':
addLaserCalibration(index, 'horiz_offset_correction',
float(field.text) * cm2meters)
elif field.tag == 'focalDistance_':
addLaserCalibration(index, 'focal_distance',
float(field.text) * cm2meters)
elif field.tag == 'focalSlope_':
addLaserCalibration(index, 'focal_slope', float(field.text))
# validate input data
if calibration['num_lasers'] <= 0:
xmlError('no lasers defined')
elif calibration['num_lasers'] != num_enabled:
xmlError('inconsistent number of lasers defined')
# TODO: make sure all required fields are present.
# (Which ones are required?)
if calibrationGood:
# write calibration data to YAML file
f = open(yamlFile, 'w')
try:
yaml.dump(calibration, f)
finally:
f.close()
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/ringcolors_node.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This ROS node converts a Velodyne 3D LIDAR PointXYZIR cloud to
PointXYZRGB, assigning colors for visualization of the laser
rings.
*/
#include <ros/ros.h>
#include "colors.h"
/** Main node entry point. */
int main(int argc, char **argv)
{
ros::init(argc, argv, "colors_node");
ros::NodeHandle node;
ros::NodeHandle priv_nh("~");
// create conversion class, which subscribes to input messages
velodyne_pointcloud::RingColors colors(node, priv_nh);
// handle callbacks until shut down
ros::spin();
return 0;
}
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/CMakeLists.txt
|
add_executable(cloud_node cloud_node.cc convert.cc)
add_dependencies(cloud_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(cloud_node velodyne_rawdata
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS cloud_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
add_library(cloud_nodelet cloud_nodelet.cc convert.cc)
add_dependencies(cloud_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(cloud_nodelet velodyne_rawdata
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS cloud_nodelet
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
add_executable(ringcolors_node ringcolors_node.cc colors.cc)
target_link_libraries(ringcolors_node
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS ringcolors_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
add_library(ringcolors_nodelet ringcolors_nodelet.cc colors.cc)
target_link_libraries(ringcolors_nodelet
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS ringcolors_nodelet
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
add_executable(transform_node transform_node.cc transform.cc)
add_dependencies(transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(transform_node velodyne_rawdata
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS transform_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
add_library(transform_nodelet transform_nodelet.cc transform.cc)
add_dependencies(transform_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(transform_nodelet velodyne_rawdata
${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS transform_nodelet
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/colors.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
Implementation for converting a Velodyne 3D LIDAR PointXYZIR cloud
to PointXYZRGB, assigning colors for visualization of the laser
rings.
@author Jack O'Quin
*/
#include "colors.h"
#include <velodyne_pointcloud/point_types.h>
/// @todo make sure these includes are really necessary
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
namespace
{
// RGB color values
const int color_red = 0xff0000;
const int color_orange = 0xff8800;
const int color_yellow = 0xffff00;
const int color_green = 0x00ff00;
const int color_blue = 0x0000ff;
const int color_violet = 0xff00ff;
const int N_COLORS = 6;
int rainbow[N_COLORS] = {color_red, color_orange, color_yellow,
color_green, color_blue, color_violet};
}
namespace velodyne_pointcloud
{
/** types of output point and cloud */
typedef pcl::PointXYZRGB RGBPoint;
typedef pcl::PointCloud<RGBPoint> RGBPointCloud;
/** @brief Constructor. */
RingColors::RingColors(ros::NodeHandle node, ros::NodeHandle private_nh)
{
// advertise output point cloud (before subscribing to input data)
output_ =
node.advertise<sensor_msgs::PointCloud2>("velodyne_rings", 10);
// subscribe to VelodyneScan packets
input_ =
node.subscribe("velodyne_points", 10,
&RingColors::convertPoints, this,
ros::TransportHints().tcpNoDelay(true));
}
/** @brief Callback for Velodyne PointXYZRI messages. */
void
RingColors::convertPoints(const VPointCloud::ConstPtr &inMsg)
{
if (output_.getNumSubscribers() == 0) // no one listening?
return; // do nothing
// allocate an PointXYZRGB message with same time and frame ID as
// input data
RGBPointCloud::Ptr outMsg(new RGBPointCloud());
outMsg->header.stamp = inMsg->header.stamp;
outMsg->header.frame_id = inMsg->header.frame_id;
outMsg->height = 1;
for (size_t i = 0; i < inMsg->points.size(); ++i)
{
RGBPoint p;
p.x = inMsg->points[i].x;
p.y = inMsg->points[i].y;
p.z = inMsg->points[i].z;
// color lasers with the rainbow array
int color = inMsg->points[i].ring % N_COLORS;
p.rgb = *reinterpret_cast<float*>(rainbow+color);
outMsg->points.push_back(p);
++outMsg->width;
}
output_.publish(outMsg);
}
} // namespace velodyne_pcl
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/ringcolors_nodelet.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This ROS nodelet converts a Velodyne 3D LIDAR PointXYZIR cloud to
PointXYZRGB, assigning colors for visualization of the laser
rings.
*/
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include "colors.h"
namespace velodyne_pointcloud
{
class RingColorsNodelet: public nodelet::Nodelet
{
public:
RingColorsNodelet() {}
~RingColorsNodelet() {}
private:
virtual void onInit();
boost::shared_ptr<RingColors> colors_;
};
/** @brief Nodelet initialization. */
void RingColorsNodelet::onInit()
{
colors_.reset(new RingColors(getNodeHandle(), getPrivateNodeHandle()));
}
} // namespace velodyne_pointcloud
// Register this plugin with pluginlib. Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::RingColorsNodelet, nodelet::Nodelet)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/transform_node.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
This ROS node transforms raw Velodyne LIDAR packets to PointCloud2
in the /odom frame of reference.
*/
#include <ros/ros.h>
#include "transform.h"
/** Main node entry point. */
int main(int argc, char **argv)
{
ros::init(argc, argv, "transform_node");
// create conversion class, which subscribes to raw data
velodyne_pointcloud::Transform transform(ros::NodeHandle(),
ros::NodeHandle("~"));
// handle callbacks until shut down
ros::spin();
return 0;
}
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/colors.h
|
/* -*- mode: C++ -*- */
/*
* Copyright (C) 2012 Austin Robot Technology
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
Interface for converting a Velodyne 3D LIDAR PointXYZIR cloud to
PointXYZRGB, assigning colors for visualization of the laser
rings.
@author Jack O'Quin
*/
#ifndef _VELODYNE_POINTCLOUD_COLORS_H_
#define _VELODYNE_POINTCLOUD_COLORS_H_
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <velodyne_pointcloud/point_types.h>
namespace velodyne_pointcloud
{
// shorter names for point cloud types in this namespace
typedef velodyne_pointcloud::PointXYZIR VPoint;
typedef pcl::PointCloud<VPoint> VPointCloud;
class RingColors
{
public:
RingColors(ros::NodeHandle node, ros::NodeHandle private_nh);
~RingColors() {}
private:
void convertPoints(const VPointCloud::ConstPtr &inMsg);
ros::Subscriber input_;
ros::Publisher output_;
};
} // namespace velodyne_pointcloud
#endif // _VELODYNE_POINTCLOUD_COLORS_H_
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/cloud_nodelet.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This ROS nodelet converts raw Velodyne 3D LIDAR packets to a
PointCloud2.
*/
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include "convert.h"
namespace velodyne_pointcloud
{
class CloudNodelet: public nodelet::Nodelet
{
public:
CloudNodelet() {}
~CloudNodelet() {}
private:
virtual void onInit();
boost::shared_ptr<Convert> conv_;
};
/** @brief Nodelet initialization. */
void CloudNodelet::onInit()
{
conv_.reset(new Convert(getNodeHandle(), getPrivateNodeHandle()));
}
} // namespace velodyne_pointcloud
// Register this plugin with pluginlib. Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::CloudNodelet, nodelet::Nodelet)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/transform.cc
|
/*
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2011 Jesse Vera
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This class transforms raw Velodyne 3D LIDAR packets to PointCloud2
in the /odom frame of reference.
@author Jack O'Quin
@author Jesse Vera
*/
#include "transform.h"
#include <pcl_conversions/pcl_conversions.h>
namespace velodyne_pointcloud {
/** @brief Constructor. */
Transform::Transform(ros::NodeHandle node, ros::NodeHandle private_nh)
: tf_prefix_(tf::getPrefixParam(private_nh)),
data_(new velodyne_rawdata::RawData()) {
// Read calibration.
data_->setup(private_nh);
// advertise output point cloud (before subscribing to input data)
output_ = node.advertise<sensor_msgs::PointCloud2>("velodyne_points", 10);
srv_ = boost::make_shared<
dynamic_reconfigure::Server<velodyne_pointcloud::TransformNodeConfig> >(
private_nh);
dynamic_reconfigure::Server<
velodyne_pointcloud::TransformNodeConfig>::CallbackType f;
f = boost::bind(&Transform::reconfigure_callback, this, _1, _2);
srv_->setCallback(f);
// subscribe to VelodyneScan packets using transform filter
velodyne_scan_.subscribe(node, "velodyne_packets", 10);
tf_filter_ = new tf::MessageFilter<velodyne_msgs::VelodyneScan>(
velodyne_scan_, listener_, config_.frame_id, 10);
tf_filter_->registerCallback(boost::bind(&Transform::processScan, this, _1));
}
void Transform::reconfigure_callback(
velodyne_pointcloud::TransformNodeConfig &config, uint32_t level) {
ROS_INFO_STREAM("Reconfigure request.");
data_->setParameters(config.min_range, config.max_range,
config.view_direction, config.view_width);
config_.frame_id = tf::resolve(tf_prefix_, config.frame_id);
ROS_INFO_STREAM("Target frame ID: " << config_.frame_id);
}
/** @brief Callback for raw scan messages.
*
* @pre TF message filter has already waited until the transform to
* the configured @c frame_id can succeed.
*/
void Transform::processScan(
const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg) {
if (output_.getNumSubscribers() == 0) // no one listening?
return; // avoid much work
// allocate an output point cloud with same time as raw data
VPointCloud::Ptr outMsg(new VPointCloud());
outMsg->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp;
outMsg->header.frame_id = config_.frame_id;
outMsg->height = 1;
// process each packet provided by the driver
for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
// clear input point cloud to handle this packet
inPc_.points.clear();
inPc_.width = 0;
inPc_.height = 1;
std_msgs::Header header;
header.stamp = scanMsg->packets[next].stamp;
header.frame_id = scanMsg->header.frame_id;
pcl_conversions::toPCL(header, inPc_.header);
// unpack the raw data
data_->unpack(scanMsg->packets[next], inPc_);
// clear transform point cloud for this packet
tfPc_.points.clear(); // is this needed?
tfPc_.width = 0;
tfPc_.height = 1;
header.stamp = scanMsg->packets[next].stamp;
pcl_conversions::toPCL(header, tfPc_.header);
tfPc_.header.frame_id = config_.frame_id;
// transform the packet point cloud into the target frame
try {
ROS_DEBUG_STREAM("transforming from " << inPc_.header.frame_id << " to "
<< config_.frame_id);
VPointCloud inPc_V;
pcl::copyPointCloud(inPc_, inPc_V);
// pcl_ros::transformPointCloud(config_.frame_id, inPc_, tfPc_,
pcl_ros::transformPointCloud(config_.frame_id, inPc_V, tfPc_, listener_);
#if 0 // use the latest transform available, should usually work fine
pcl_ros::transformPointCloud(inPc_.header.frame_id,
ros::Time(0), inPc_,
config_.frame_id,
tfPc_, listener_);
#endif
} catch (tf::TransformException &ex) {
// only log tf error once every 100 times
ROS_WARN_THROTTLE(100, "%s", ex.what());
continue; // skip this packet
}
// append transformed packet data to end of output message
outMsg->points.insert(outMsg->points.end(), tfPc_.points.begin(),
tfPc_.points.end());
outMsg->width += tfPc_.points.size();
}
// publish the accumulated cloud message
ROS_DEBUG_STREAM("Publishing "
<< outMsg->height * outMsg->width
<< " Velodyne points, time: " << outMsg->header.stamp);
output_.publish(outMsg);
}
} // namespace velodyne_pointcloud
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/convert.cc
|
/*
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2011 Jesse Vera
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This class converts raw Velodyne 3D LIDAR packets to PointCloud2.
*/
#include "convert.h"
#include <pcl_conversions/pcl_conversions.h>
namespace velodyne_pointcloud
{
/** @brief Constructor. */
Convert::Convert(ros::NodeHandle node, ros::NodeHandle private_nh):
data_(new velodyne_rawdata::RawData())
{
data_->setup(private_nh);
// advertise output point cloud (before subscribing to input data)
output_ =
node.advertise<sensor_msgs::PointCloud2>("velodyne_points", 10);
srv_ = boost::make_shared <dynamic_reconfigure::Server<velodyne_pointcloud::
CloudNodeConfig> > (private_nh);
dynamic_reconfigure::Server<velodyne_pointcloud::CloudNodeConfig>::
CallbackType f;
f = boost::bind (&Convert::callback, this, _1, _2);
srv_->setCallback (f);
// subscribe to VelodyneScan packets
velodyne_scan_ =
node.subscribe("velodyne_packets", 10,
&Convert::processScan, (Convert *) this,
ros::TransportHints().tcpNoDelay(true));
}
void Convert::callback(velodyne_pointcloud::CloudNodeConfig &config,
uint32_t level)
{
ROS_INFO("Reconfigure Request");
data_->setParameters(config.min_range, config.max_range, config.view_direction,
config.view_width);
}
/** @brief Callback for raw scan messages. */
void Convert::processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg)
{
if (output_.getNumSubscribers() == 0) // no one listening?
return; // avoid much work
// allocate a point cloud with same time and frame ID as raw data
velodyne_rawdata::VPointCloud::Ptr
outMsg(new velodyne_rawdata::VPointCloud());
// velodyne_rawdata::XYZIRBPointCloud::Ptr
// outMsg(new velodyne_rawdata::XYZIRBPointCloud());
// outMsg's header is a pcl::PCLHeader, convert it before stamp assignment
outMsg->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp;
outMsg->header.frame_id = scanMsg->header.frame_id;
outMsg->height = 1;
// process each packet provided by the driver
for (size_t i = 0; i < scanMsg->packets.size(); ++i)
{
data_->unpack(scanMsg->packets[i], *outMsg);
}
// publish the accumulated cloud message
ROS_DEBUG_STREAM("Publishing " << outMsg->height * outMsg->width
<< " Velodyne points, time: " << outMsg->header.stamp);
output_.publish(outMsg);
}
} // namespace velodyne_pointcloud
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/cloud_node.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** \file
This ROS node converts raw Velodyne LIDAR packets to PointCloud2.
*/
#include <ros/ros.h>
#include "convert.h"
/** Main node entry point. */
int main(int argc, char **argv)
{
ros::init(argc, argv, "cloud_node");
ros::NodeHandle node;
ros::NodeHandle priv_nh("~");
// create conversion class, which subscribes to raw data
velodyne_pointcloud::Convert conv(node, priv_nh);
// handle callbacks until shut down
ros::spin();
return 0;
}
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/transform.h
|
/* -*- mode: C++ -*- */
/*
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2011 Jesse Vera
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This class transforms raw Velodyne 3D LIDAR packets to PointCloud2
in the /odom frame of reference.
*/
#ifndef _VELODYNE_POINTCLOUD_TRANSFORM_H_
#define _VELODYNE_POINTCLOUD_TRANSFORM_H_ 1
#include <ros/ros.h>
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"
#include <sensor_msgs/PointCloud2.h>
#include <velodyne_pointcloud/rawdata.h>
#include <velodyne_pointcloud/point_types.h>
#include <dynamic_reconfigure/server.h>
#include <velodyne_pointcloud/TransformNodeConfig.h>
// include template implementations to transform a custom point cloud
#include <pcl_ros/impl/transforms.hpp>
/** types of point and cloud to work with */
typedef velodyne_rawdata::VPoint VPoint;
typedef velodyne_rawdata::VPointCloud VPointCloud;
// instantiate template for transforming a VPointCloud
template bool
pcl_ros::transformPointCloud<VPoint>(const std::string &,
const VPointCloud &,
VPointCloud &,
const tf::TransformListener &);
namespace velodyne_pointcloud
{
class Transform
{
public:
Transform(ros::NodeHandle node, ros::NodeHandle private_nh);
~Transform() {}
private:
void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);
///Pointer to dynamic reconfigure service srv_
boost::shared_ptr<dynamic_reconfigure::Server<velodyne_pointcloud::
TransformNodeConfig> > srv_;
void reconfigure_callback(velodyne_pointcloud::TransformNodeConfig &config,
uint32_t level);
const std::string tf_prefix_;
boost::shared_ptr<velodyne_rawdata::RawData> data_;
message_filters::Subscriber<velodyne_msgs::VelodyneScan> velodyne_scan_;
tf::MessageFilter<velodyne_msgs::VelodyneScan> *tf_filter_;
ros::Publisher output_;
tf::TransformListener listener_;
/// configuration parameters
typedef struct {
std::string frame_id; ///< target frame ID
} Config;
Config config_;
// Point cloud buffers for collecting points within a packet. The
// inPc_ and tfPc_ are class members only to avoid reallocation on
// every message.
VPointCloud inPc_; ///< input packet point cloud
// velodyne_rawdata::XYZIRBPointCloud inPc_;
VPointCloud tfPc_; ///< transformed packet point cloud
};
} // namespace velodyne_pointcloud
#endif // _VELODYNE_POINTCLOUD_TRANSFORM_H_
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/convert.h
|
/* -*- mode: C++ -*- */
/*
* Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2011 Jesse Vera
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This class converts raw Velodyne 3D LIDAR packets to PointCloud2.
*/
#ifndef _VELODYNE_POINTCLOUD_CONVERT_H_
#define _VELODYNE_POINTCLOUD_CONVERT_H_ 1
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <velodyne_pointcloud/rawdata.h>
#include <dynamic_reconfigure/server.h>
#include <velodyne_pointcloud/CloudNodeConfig.h>
namespace velodyne_pointcloud
{
class Convert
{
public:
Convert(ros::NodeHandle node, ros::NodeHandle private_nh);
~Convert() {}
private:
void callback(velodyne_pointcloud::CloudNodeConfig &config,
uint32_t level);
void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);
///Pointer to dynamic reconfigure service srv_
boost::shared_ptr<dynamic_reconfigure::Server<velodyne_pointcloud::
CloudNodeConfig> > srv_;
boost::shared_ptr<velodyne_rawdata::RawData> data_;
ros::Subscriber velodyne_scan_;
ros::Publisher output_;
/// configuration parameters
typedef struct {
int npackets; ///< number of packets to combine
} Config;
Config config_;
};
} // namespace velodyne_pointcloud
#endif // _VELODYNE_POINTCLOUD_CONVERT_H_
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/conversions/transform_nodelet.cc
|
/*
* Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/** @file
This ROS nodelet transforms raw Velodyne 3D LIDAR packets to a
PointCloud2 in the /odom frame.
*/
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include "transform.h"
namespace velodyne_pointcloud
{
class TransformNodelet: public nodelet::Nodelet
{
public:
TransformNodelet() {}
~TransformNodelet() {}
private:
virtual void onInit();
boost::shared_ptr<Transform> tf_;
};
/** @brief Nodelet initialization. */
void TransformNodelet::onInit()
{
tf_.reset(new Transform(getNodeHandle(), getPrivateNodeHandle()));
}
} // namespace velodyne_pointcloud
// Register this plugin with pluginlib. Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::TransformNodelet, nodelet::Nodelet)
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/lib/calibration.cc
|
/**
* \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 <yaml-cpp/yaml.h>
#include <cmath>
#include <fstream>
#include <iostream>
#include <limits>
#include <string>
#ifdef HAVE_NEW_YAMLCPP
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>();
}
} /* YAML */
#endif // HAVE_NEW_YAMLCPP
#include <ros/ros.h>
#include <velodyne_pointcloud/calibration.h>
namespace velodyne_pointcloud {
const std::string NUM_LASERS = "num_lasers";
const std::string LASERS = "lasers";
const std::string LASER_ID = "laser_id";
const std::string ROT_CORRECTION = "rot_correction";
const std::string VERT_CORRECTION = "vert_correction";
const std::string DIST_CORRECTION = "dist_correction";
const std::string TWO_PT_CORRECTION_AVAILABLE = "two_pt_correction_available";
const std::string DIST_CORRECTION_X = "dist_correction_x";
const std::string DIST_CORRECTION_Y = "dist_correction_y";
const std::string VERT_OFFSET_CORRECTION = "vert_offset_correction";
const std::string HORIZ_OFFSET_CORRECTION = "horiz_offset_correction";
const std::string MAX_INTENSITY = "max_intensity";
const std::string MIN_INTENSITY = "min_intensity";
const std::string FOCAL_DISTANCE = "focal_distance";
const std::string FOCAL_SLOPE = "focal_slope";
/** Read calibration for a single laser. */
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;
#ifdef HAVE_NEW_YAMLCPP
if (node[TWO_PT_CORRECTION_AVAILABLE])
node[TWO_PT_CORRECTION_AVAILABLE] >>
correction.second.two_pt_correction_available;
#else
if (const YAML::Node* pName = node.FindValue(TWO_PT_CORRECTION_AVAILABLE))
*pName >> correction.second.two_pt_correction_available;
#endif
else
correction.second.two_pt_correction_available = false;
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;
#ifdef HAVE_NEW_YAMLCPP
if (node[HORIZ_OFFSET_CORRECTION])
node[HORIZ_OFFSET_CORRECTION] >> correction.second.horiz_offset_correction;
#else
if (const YAML::Node* pName = node.FindValue(HORIZ_OFFSET_CORRECTION))
*pName >> correction.second.horiz_offset_correction;
#endif
else
correction.second.horiz_offset_correction = 0;
const YAML::Node* max_intensity_node = NULL;
YAML::Node max_intensity_node_ref;
#ifdef HAVE_NEW_YAMLCPP
if (node[MAX_INTENSITY]) {
max_intensity_node_ref = node[MAX_INTENSITY];
max_intensity_node = &max_intensity_node_ref;
}
#else
if (const YAML::Node* pName = node.FindValue(MAX_INTENSITY)) {
max_intensity_node = pName;
}
#endif
if (max_intensity_node) {
float max_intensity_float;
*max_intensity_node >> max_intensity_float;
correction.second.max_intensity = floor(max_intensity_float);
} else {
correction.second.max_intensity = 255;
}
const YAML::Node* min_intensity_node = NULL;
YAML::Node min_intensity_node_ref;
#ifdef HAVE_NEW_YAMLCPP
if (node[MIN_INTENSITY]) {
min_intensity_node_ref = node[MIN_INTENSITY];
min_intensity_node = &min_intensity_node_ref;
}
#else
if (const YAML::Node* pName = node.FindValue(MIN_INTENSITY))
min_intensity_node = pName;
#endif
if (min_intensity_node) {
float min_intensity_float;
*min_intensity_node >> min_intensity_float;
correction.second.min_intensity = floor(min_intensity_float);
} 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.laser_ring = 0; // clear initially (set later)
}
/** Read entire calibration file. */
void operator>>(const YAML::Node& node, Calibration& calibration) {
int num_lasers;
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;
if (calibration.ros_info) {
ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", next_index, ring,
next_angle);
}
}
}
}
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 << TWO_PT_CORRECTION_AVAILABLE << YAML::Value
<< correction.second.two_pt_correction_available;
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;
#ifdef HAVE_NEW_YAMLCPP
fin.close();
doc = YAML::LoadFile(calibration_file);
#else
YAML::Parser parser(fin);
parser.GetNextDocument(doc);
#endif
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();
}
} /* velodyne_pointcloud */
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/lib/CMakeLists.txt
|
add_library(velodyne_rawdata rawdata.cc calibration.cc)
target_link_libraries(velodyne_rawdata
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES})
install(TARGETS velodyne_rawdata
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_pointcloud/src/lib/rawdata.cc
|
/*
* Copyright (C) 2007 Austin Robot Technology, Patrick Beeson
* Copyright (C) 2009, 2010, 2012 Austin Robot Technology, Jack O'Quin
* Copyright (C) 2017, Velodyne LiDAR INC., Algorithms and Signal Processing
* Group
*
* License: Modified BSD Software License Agreement
*
* $Id$
*/
/**
* @file
*
* Velodyne 3D LIDAR data accessor class implementation.
*
* Class for unpacking raw Velodyne LIDAR packets into useful
* formats.
*
* Derived classes accept raw Velodyne data for either single packets
* or entire rotations, and provide it in various formats for either
* on-line or off-line processing.
*
* @author Patrick Beeson
* @author Jack O'Quin
* @author Velodyne LiDAR, Algorithms and Signal Processing Group
*
* HDL-64E S2 calibration support provided by Nick Hillier
*/
#include <math.h>
#include <fstream>
#include <angles/angles.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <velodyne_pointcloud/rawdata.h>
namespace velodyne_rawdata {
////////////////////////////////////////////////////////////////////////
//
// RawData base class implementation
//
////////////////////////////////////////////////////////////////////////
RawData::RawData() {}
/** Update parameters: conversions and update */
void RawData::setParameters(double min_range, double max_range,
double view_direction, double view_width) {
config_.min_range = min_range;
config_.max_range = max_range;
// converting angle parameters into the velodyne reference (rad)
config_.tmp_min_angle = view_direction + view_width / 2;
config_.tmp_max_angle = view_direction - view_width / 2;
// computing positive modulo to keep theses angles into [0;2*M_PI]
config_.tmp_min_angle =
fmod(fmod(config_.tmp_min_angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
config_.tmp_max_angle =
fmod(fmod(config_.tmp_max_angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
// converting into the hardware velodyne ref (negative yaml and degrees)
// adding 0.5 perfomrs a centered double to int conversion
config_.min_angle =
100 * (2 * M_PI - config_.tmp_min_angle) * 180 / M_PI + 0.5;
config_.max_angle =
100 * (2 * M_PI - config_.tmp_max_angle) * 180 / M_PI + 0.5;
if (config_.min_angle == config_.max_angle) {
// avoid returning empty cloud if min_angle = max_angle
config_.min_angle = 0;
config_.max_angle = 36000;
}
}
/** Set up for on-line operation. */
int RawData::setup(ros::NodeHandle private_nh) {
// get path to angles.config file for this device
if (!private_nh.getParam("calibration", config_.calibrationFile)) {
ROS_ERROR_STREAM("No calibration angles specified! Using test values!");
// have to use something: grab unit test version as a default
std::string pkgPath = ros::package::getPath("velodyne_pointcloud");
config_.calibrationFile = pkgPath + "/params/64e_utexas.yaml";
}
ROS_INFO_STREAM("correction angles: " << config_.calibrationFile);
calibration_.read(config_.calibrationFile);
if (!calibration_.initialized) {
ROS_ERROR_STREAM(
"Unable to open calibration file: " << config_.calibrationFile);
return -1;
}
ROS_INFO_STREAM("Number of lasers: " << calibration_.num_lasers << ".");
// Set up cached values for sin and cos of all the possible headings
for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {
float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index);
cos_rot_table_[rot_index] = cosf(rotation);
sin_rot_table_[rot_index] = sinf(rotation);
}
return 0;
}
/** Set up for offline operation */
int RawData::setupOffline(std::string calibration_file, double max_range_,
double min_range_) {
config_.max_range = max_range_;
config_.min_range = min_range_;
ROS_INFO_STREAM("data ranges to publish: [" << config_.min_range << ", "
<< config_.max_range << "]");
config_.calibrationFile = calibration_file;
ROS_INFO_STREAM("correction angles: " << config_.calibrationFile);
calibration_.read(config_.calibrationFile);
if (!calibration_.initialized) {
ROS_ERROR_STREAM(
"Unable to open calibration file: " << config_.calibrationFile);
return -1;
}
// Set up cached values for sin and cos of all the possible headings
for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {
float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index);
cos_rot_table_[rot_index] = cosf(rotation);
sin_rot_table_[rot_index] = sinf(rotation);
}
return 0;
}
#if 0
void RawData::unpack(const velodyne_msgs::VelodynePacket &pkt,
XYZIRBPointCloud &pc)
{
ROS_DEBUG_STREAM("Received packet, time: " << pkt.stamp);
if (pkt.data[1205] == 34) {
unpack_vlp16(pkt, pc);
// std::cerr<<" current motion compensation code only supports VLP32C!" <<std::endl;
}
else if (pkt.data[1205] == 40) { // VLP32 C
unpack_vlp32(pkt, pc);
}
else if (pkt.data[1205] == 33) { // HDL-32E (NOT TESTED YET)
unpack_hdl32(pkt, pc);
/// std::cerr<<" current motion compensation code only supports VLP32C!" <<std::endl;
}
else { // HDL-64E without azimuth compensation from the firing order
unpack_hdl64(pkt, pc);
// std::cerr<<" current motion compensation code only supports VLP32C!" <<std::endl;
}
}
#endif
/** @brief convert raw packet to point cloud
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
ROS_DEBUG_STREAM("Received packet, time: " << pkt.stamp);
// std::cerr << "Sensor ID = " << (unsigned int)(pkt.data[1205]) << std::endl;
if (pkt.data[1205] == 34) { // VLP16
unpack_vlp16(pkt, pc);
} else if (pkt.data[1205] == 40) { // VLP32 C
unpack_vlp32(pkt, pc);
} else if (pkt.data[1205] == 33) { // HDL-32E (NOT TESTED YET)
unpack_hdl32(pkt, pc);
} else if (pkt.data[1205] == 161) { // VLS 128
unpack_vls128(pkt, pc);
} else { // HDL-64E without azimuth compensation from the firing order
unpack_hdl64(pkt, pc);
}
}
/** @brief apply fixed correction from the file to each point and convert it to
xyzi
input : chan_id, azimuth_uint, distance, intensity
output : x_coord, y_coord, z_coord, intensity
*/
void RawData::compute_xyzi(const uint8_t chan_id, const uint16_t azimuth_uint,
const float distance, float &intensity,
float &x_coord, float &y_coord, float &z_coord) {
float x, y, z;
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[chan_id];
// convert polar coordinates to Euclidean XYZ
float cos_vert_angle = corrections.cos_vert_correction;
float sin_vert_angle = corrections.sin_vert_correction;
float cos_rot_correction = corrections.cos_rot_correction;
float sin_rot_correction = corrections.sin_rot_correction;
// cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b)
// sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b)
float cos_rot_angle = cos_rot_table_[azimuth_uint] * cos_rot_correction +
sin_rot_table_[azimuth_uint] * sin_rot_correction;
float sin_rot_angle = sin_rot_table_[azimuth_uint] * cos_rot_correction -
cos_rot_table_[azimuth_uint] * sin_rot_correction;
float horiz_offset = corrections.horiz_offset_correction;
float vert_offset = corrections.vert_offset_correction;
// Compute the distance in the xy plane (w/o accounting for rotation)
/**the new term of 'vert_offset * sin_vert_angle'
* was added to the expression due to the mathemathical
* model we used.
*/
float xy_distance = distance * cos_vert_angle - vert_offset * sin_vert_angle;
// Calculate temporal X, use absolute value.
float xx = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle;
// Calculate temporal Y, use absolute value
float yy = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle;
if (xx < 0) xx = -xx;
if (yy < 0) yy = -yy;
// Get 2points calibration values,Linear interpolation to get distance
// correction for X and Y, that means distance correction use
// different value at different distance
float distance_corr_x = 0;
float distance_corr_y = 0;
if (corrections.two_pt_correction_available) {
distance_corr_x =
(corrections.dist_correction - corrections.dist_correction_x) *
(xx - 2.4) / (25.04 - 2.4) +
corrections.dist_correction_x;
distance_corr_x -= corrections.dist_correction;
distance_corr_y =
(corrections.dist_correction - corrections.dist_correction_y) *
(yy - 1.93) / (25.04 - 1.93) +
corrections.dist_correction_y;
distance_corr_y -= corrections.dist_correction;
}
float distance_x = distance + distance_corr_x;
/**the new term of 'vert_offset * sin_vert_angle'
* was added to the expression due to the mathemathical
* model we used.
*/
xy_distance = distance_x * cos_vert_angle - vert_offset * sin_vert_angle;
x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle;
float distance_y = distance + distance_corr_y;
/**the new term of 'vert_offset * sin_vert_angle'
* was added to the expression due to the mathemathical
* model we used.
*/
xy_distance = distance_y * cos_vert_angle - vert_offset * sin_vert_angle;
y = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle;
// Using distance_y is not symmetric, but the velodyne manual
// does this.
/**the new term of 'vert_offset * cos_vert_angle'
* was added to the expression due to the mathemathical
* model we used.
*/
z = distance_y * sin_vert_angle + vert_offset * cos_vert_angle;
/** Use standard ROS coordinate system (right-hand rule) */
x_coord = y;
y_coord = -x;
z_coord = z;
/** Intensity Calculation */
float min_intensity = corrections.min_intensity;
float max_intensity = corrections.max_intensity;
float focal_offset = 256 * (1 - corrections.focal_distance / 13100) *
(1 - corrections.focal_distance / 13100);
float focal_slope = corrections.focal_slope;
intensity +=
focal_slope * (abs(focal_offset -
256 * (1 - static_cast<float>(azimuth_uint) / 65535) *
(1 - static_cast<float>(azimuth_uint) / 65535)));
intensity = (intensity < min_intensity) ? min_intensity : intensity;
intensity = (intensity > max_intensity) ? max_intensity : intensity;
}
/** @brief convert raw HDL-64E channel packet to point cloud
* a default one without any time-domain azimuth correction
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack_hdl64(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
const raw_packet_t *raw = (const raw_packet_t *)&pkt.data[0];
for (int i = 0; i < NUM_BLOCKS_PER_PACKET; i++) {
// upper bank lasers are numbered [0..31]
// NOTE: this is a change from the old velodyne_common implementation
int bank_origin = 0;
if (raw->blocks[i].header == LOWER_BANK) {
// lower bank lasers are [32..63]
bank_origin = 32;
}
// Azimuth extraction
uint16_t azimuth = raw->blocks[i].rotation;
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle) ||
(config_.min_angle > config_.max_angle)) {
for (int j = 0, k = 0; j < NUM_CHANS_PER_BLOCK; j++, k += CHANNEL_SIZE) {
uint8_t laser_number = j + bank_origin;
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[laser_number];
// Distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[i].data[k];
tmp.bytes[1] = raw->blocks[i].data[k + 1];
float distance = tmp.uint * DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
// Intensity extraction
float intensity = raw->blocks[i].data[k + 2];
float x_coord, y_coord, z_coord;
// apply calibration file and convert polar coordinates to Euclidean
// XYZ
compute_xyzi(laser_number, azimuth, distance, intensity, x_coord,
y_coord, z_coord);
// append this point to the cloud
VPoint point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
/** @brief convert raw VLP16 packet to point cloud
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack_vlp16(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
float azimuth_diff, azimuth_corrected_f;
float last_azimuth_diff = 0;
uint16_t azimuth, azimuth_next, azimuth_corrected;
float x_coord, y_coord, z_coord;
float distance, intensity;
const raw_packet_t *raw = (const raw_packet_t *)&pkt.data[0];
for (int block = 0; block < NUM_BLOCKS_PER_PACKET; block++) {
// ignore packets with mangled or otherwise different contents
if (UPPER_BANK != raw->blocks[block].header) {
// Do not flood the log with messages, only issue at most one
// of these warnings per minute.
ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-16 packet: block "
<< block << " header value is "
<< raw->blocks[block].header);
return; // bad packet: skip the rest
}
// Azimuth extraction
if (block == 0) {
azimuth = raw->blocks[block].rotation;
} else {
azimuth = azimuth_next;
}
// Calculate difference between current and next block's azimuth angle.
if (block < (NUM_BLOCKS_PER_PACKET - 1)) {
azimuth_next = raw->blocks[block + 1].rotation;
azimuth_diff = (float)((36000 + azimuth_next - azimuth) % 36000);
last_azimuth_diff = azimuth_diff;
} else {
azimuth_diff = last_azimuth_diff;
}
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle) ||
(config_.min_angle > config_.max_angle)) {
for (int seq_id = 0, k = 0; seq_id < VLP16_NUM_SEQS_PER_BLOCK; seq_id++) {
for (int chan_id = 0; chan_id < VLP16_NUM_CHANS_PER_SEQ;
chan_id++, k += CHANNEL_SIZE) {
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[chan_id];
// Distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
distance = (float)tmp.uint * DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
intensity = (float)raw->blocks[block].data[k + 2];
// azimuth correction from the firing order in time-domain
azimuth_corrected_f =
azimuth + (azimuth_diff * ((chan_id * CHANNEL_TDURATION) +
(seq_id * SEQ_TDURATION)) /
VLP16_BLOCK_TDURATION);
azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
// apply calibration file and convert polar coordinates to Euclidean
// XYZ
compute_xyzi(chan_id, azimuth_corrected, distance, intensity,
x_coord, y_coord, z_coord);
// append this point to the cloud
VPoint point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
}
#if 0
void RawData::unpack_vlp32(const velodyne_msgs::VelodynePacket &pkt,
velodyne_rawdata::XYZIRBPointCloud &pc)
{
float azimuth_diff, azimuth_corrected_f;
float last_azimuth_diff = 0;
uint16_t azimuth, azimuth_next, azimuth_corrected;
float x_coord, y_coord, z_coord;
float distance, intensity;
const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0];
for (int block = 0; block < NUM_BLOCKS_PER_PACKET; block++) {
// ignore packets with mangled or otherwise different contents
if (UPPER_BANK != raw->blocks[block].header) {
// Do not flood the log with messages, only issue at most one
// of these warnings per minute.
ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-32 packet: block "
<< block << " header value is "
<< raw->blocks[block].header);
return; // bad packet: skip the rest
}
// Calculate difference between current and next block's azimuth angle.
if (block == 0) {
azimuth = raw->blocks[block].rotation;
} else {
azimuth = azimuth_next;
}
if (block < (NUM_BLOCKS_PER_PACKET-1)){
azimuth_next = raw->blocks[block+1].rotation;
azimuth_diff = (float)((36000 + azimuth_next - azimuth)%36000);
last_azimuth_diff = azimuth_diff;
} else {
azimuth_diff = last_azimuth_diff;
}
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle)
|| (config_.min_angle > config_.max_angle)) {
for (int j = 0, k = 0; j < NUM_CHANS_PER_BLOCK; j++, k+=CHANNEL_SIZE){
uint8_t chan_id = j;
uint8_t firing_order = chan_id/2;
velodyne_pointcloud::LaserCorrection &corrections = calibration_.laser_corrections[chan_id];
// distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k+1];
distance = (float)tmp.uint * VLP32_DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
intensity = (float)raw->blocks[block].data[k+2];
/** correct for the laser rotation as a function of timing during the firings **/
azimuth_corrected_f = azimuth + (azimuth_diff * (firing_order*CHANNEL_TDURATION) / SEQ_TDURATION);
azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
// apply calibration file and convert polar coordinates to Euclidean XYZ
compute_xyzi(chan_id, azimuth_corrected, distance, intensity, x_coord, y_coord, z_coord);
// append this point to the cloud
PointXYZIRB point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
point.block = block;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
#endif
/** @brief convert raw VLP32 packet to point cloud
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack_vlp32(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
float azimuth_diff, azimuth_corrected_f;
float last_azimuth_diff = 0;
uint16_t azimuth, azimuth_next, azimuth_corrected;
float x_coord, y_coord, z_coord;
float distance, intensity;
const raw_packet_t *raw = (const raw_packet_t *)&pkt.data[0];
for (int block = 0; block < NUM_BLOCKS_PER_PACKET; block++) {
// ignore packets with mangled or otherwise different contents
if (UPPER_BANK != raw->blocks[block].header) {
// Do not flood the log with messages, only issue at most one
// of these warnings per minute.
ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-32 packet: block "
<< block << " header value is "
<< raw->blocks[block].header);
return; // bad packet: skip the rest
}
// Calculate difference between current and next block's azimuth angle.
if (block == 0) {
azimuth = raw->blocks[block].rotation;
} else {
azimuth = azimuth_next;
}
if (block < (NUM_BLOCKS_PER_PACKET - 1)) {
azimuth_next = raw->blocks[block + 1].rotation;
azimuth_diff = (float)((36000 + azimuth_next - azimuth) % 36000);
last_azimuth_diff = azimuth_diff;
} else {
azimuth_diff = last_azimuth_diff;
}
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle) ||
(config_.min_angle > config_.max_angle)) {
for (int j = 0, k = 0; j < NUM_CHANS_PER_BLOCK; j++, k += CHANNEL_SIZE) {
uint8_t chan_id = j;
uint8_t firing_order = chan_id / 2;
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[chan_id];
// distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
distance = (float)tmp.uint * VLP32_DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
intensity = (float)raw->blocks[block].data[k + 2];
/** correct for the laser rotation as a function of timing during the
* firings **/
azimuth_corrected_f =
azimuth + (azimuth_diff * (firing_order * CHANNEL_TDURATION) /
SEQ_TDURATION);
azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
// apply calibration file and convert polar coordinates to Euclidean
// XYZ
compute_xyzi(chan_id, azimuth_corrected, distance, intensity, x_coord,
y_coord, z_coord);
// append this point to the cloud
VPoint point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
/** @brief convert raw VLS128 packet to point cloud
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack_vls128(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
float azimuth_diff, azimuth_corrected_f;
float last_azimuth_diff = 0;
uint16_t azimuth, azimuth_next, azimuth_corrected;
float x_coord, y_coord, z_coord;
float distance, intensity;
typedef struct vls128_raw_block {
uint16_t header; ///< UPPER_BANK or LOWER_BANK
uint16_t rotation; ///< 0-35999, divide by 100 to get degrees
uint8_t data[VLS128_BLOCK_DATA_SIZE];
} vls128_raw_block_t;
typedef struct vls128_raw_packet {
vls128_raw_block_t blocks[3];
uint16_t revolution;
uint8_t status[PACKET_STATUS_SIZE];
} vls128_raw_packet_t;
const raw_packet_t *raw = (const raw_packet_t *)&pkt.data[0];
// std::cerr << " Inside unpack_vls128 " << std::endl;
for (int block = 0; block < 12; block++) {
#if 0
// ignore packets with mangled or otherwise different contents
if (UPPER_BANK != raw->blocks[block].header) {
// Do not flood the log with messages, only issue at most one
// of these warnings per minute.
std::cerr << "skipping invalid VLS128 packet ... block " << block << " header value is " << raw->blocks[block].header << std::endl;
ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLS128 packet: block "
<< block << " header value is "
<< raw->blocks[block].header);
return; // bad packet: skip the rest
}
#endif
// Calculate difference between current and next block's azimuth angle.
if (block == 0) {
azimuth = raw->blocks[block].rotation;
} else {
azimuth = azimuth_next;
}
if (block < (NUM_BLOCKS_PER_PACKET - 1)) {
azimuth_next = raw->blocks[block + 1].rotation;
azimuth_diff = (float)((36000 + azimuth_next - azimuth) % 36000);
last_azimuth_diff = azimuth_diff;
} else {
azimuth_diff = last_azimuth_diff;
}
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle) ||
(config_.min_angle > config_.max_angle)) {
for (int j = 0, k = 0; j < NUM_CHANS_PER_BLOCK; j++, k += CHANNEL_SIZE) {
uint8_t group = block % 4;
uint8_t chan_id = j + group * 32;
uint8_t firing_order = chan_id / 8;
firing_order = 0;
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[chan_id];
// distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
distance = (float)tmp.uint * VLP32_DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
intensity = (float)raw->blocks[block].data[k + 2];
/** correct for the laser rotation as a function of timing during the
* firings **/
azimuth_corrected_f =
azimuth + (azimuth_diff * (firing_order * CHANNEL_TDURATION) /
SEQ_TDURATION);
azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
// apply calibration file and convert polar coordinates to Euclidean
// XYZ
compute_xyzi(chan_id, azimuth_corrected, distance, intensity, x_coord,
y_coord, z_coord);
// append this point to the cloud
VPoint point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
unsigned int swizzle_bytes_in_word(unsigned int a) {
unsigned int temp;
// std::cerr << "Intoswizzle (0x" << std::setw(8) << std::hex << a << ")" <<
// std::dec << std::endl;
temp = 0;
temp |= ((a & 0xff000000) >> 0);
temp |= ((a & 0x00ff0000) >> 0);
temp |= ((a & 0x0000ff00) << 0);
temp |= ((a & 0x000000ff) << 0);
return (temp);
}
/** @brief convert raw HDL-32E channel packet to point cloud
* a default one without any time-domain azimuth correction
*
* @param pkt raw packet to unpack
* @param pc shared pointer to point cloud (points are appended)
*/
void RawData::unpack_hdl32(const velodyne_msgs::VelodynePacket &pkt,
VPointCloud &pc) {
float azimuth_diff, azimuth_corrected_f;
float last_azimuth_diff = 0;
uint16_t azimuth, azimuth_next, azimuth_corrected;
float x_coord, y_coord, z_coord;
float distance, intensity;
const raw_packet_t *raw = (const raw_packet_t *)&pkt.data[0];
for (int block = 0; block < NUM_BLOCKS_PER_PACKET; block++) {
// ignore packets with mangled or otherwise different contents
if (UPPER_BANK != raw->blocks[block].header) {
// Do not flood the log with messages, only issue at most one
// of these warnings per minute.
ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-32 packet: block "
<< block << " header value is "
<< raw->blocks[block].header);
return; // bad packet: skip the rest
}
// Calculate difference between current and next block's azimuth angle.
if (block == 0) {
azimuth = raw->blocks[block].rotation;
} else {
azimuth = azimuth_next;
}
if (block < (NUM_BLOCKS_PER_PACKET - 1)) {
azimuth_next = raw->blocks[block + 1].rotation;
azimuth_diff = (float)((36000 + azimuth_next - azimuth) % 36000);
last_azimuth_diff = azimuth_diff;
} else {
azimuth_diff = last_azimuth_diff;
}
/*condition added to avoid calculating points which are not
in the interesting defined area (min_angle < area < max_angle)*/
if ((config_.min_angle < config_.max_angle &&
azimuth >= config_.min_angle && azimuth <= config_.max_angle) ||
(config_.min_angle > config_.max_angle)) {
for (int j = 0, k = 0; j < NUM_CHANS_PER_BLOCK; j++, k += CHANNEL_SIZE) {
uint8_t chan_id = j;
velodyne_pointcloud::LaserCorrection &corrections =
calibration_.laser_corrections[chan_id];
// distance extraction
union two_bytes tmp;
tmp.bytes[0] = raw->blocks[block].data[k];
tmp.bytes[1] = raw->blocks[block].data[k + 1];
distance = (float)tmp.uint * DISTANCE_RESOLUTION;
distance += corrections.dist_correction;
if (pointInRange(distance)) {
intensity = (float)raw->blocks[block].data[k + 2];
/** correct for the laser rotation as a function of timing during the
* firings **/
azimuth_corrected_f =
azimuth + (azimuth_diff * (chan_id * HDL32_CHANNEL_TDURATION) /
HDL32_SEQ_TDURATION);
azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
// apply calibration file and convert polar coordinates to Euclidean
// XYZ
compute_xyzi(chan_id, azimuth_corrected, distance, intensity, x_coord,
y_coord, z_coord);
// append this point to the cloud
VPoint point;
point.ring = corrections.laser_ring;
point.x = x_coord;
point.y = y_coord;
point.z = z_coord;
point.intensity = intensity;
pc.points.push_back(point);
++pc.width;
}
}
}
}
}
} // namespace velodyne_rawdata
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs/CMakeLists.txt
|
cmake_minimum_required(VERSION 2.8.3)
project(velodyne_msgs)
find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
add_message_files(
DIRECTORY msg
FILES
VelodynePacket.msg
VelodyneScan.msg
)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
CATKIN_DEPENDS message_runtime std_msgs
)
| 0
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs/package.xml
|
<package>
<name>velodyne_msgs</name>
<version>1.3.1</version>
<description>
ROS message definitions for Velodyne VLS3D LIDARs.
</description>
<maintainer email="nbarot@velodyne.com">Nitinkumar Barot</maintainer>
<author>Jack O'Quin</author>
<author email="nbarot@velodyne.com">Nitinkumar Barot</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>std_msgs</run_depend>
</package>
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs/mainpage.dox
|
/**
\mainpage
\htmlinclude manifest.html
The @b velodyne_msgs package collects ROS messages specific to the
Velodyne HDL-64E 3D and HDL-64E S2 LIDARs.
No other programming interfaces or ROS nodes are provided.
*/
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apollo_public_repos/apollo-contrib/velodyne_vls
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs/CHANGELOG.rst
|
Change history
==============
1.3.1 (2018-03-28)
------------------
* Added Telemetry Message Definition
1.3.0 (2017-11-10)
------------------
1.2.0 (2014-08-06)
------------------
1.1.2 (2013-11-05)
-------------------
1.1.1 (2013-07-30)
------------------
1.1.0 (2013-07-16)
------------------
1.0.1 (2013-06-15)
------------------
1.0.0 (2013-06-14)
------------------
* Convert to catkin (`#1`_).
* Release to Hydro.
0.9.2 (2013-07-08)
------------------
0.9.1 (2012-06-05)
------------------
* Released to Electric, Fuerte and Groovy.
0.9.0 (2012-04-03)
------------------
* Completely revised API, anticipating a 1.0.0 release.
* Released to Electric, Fuerte and Groovy.
0.2.6 (2011-02-23)
------------------
0.2.5 (2010-11-19)
------------------
* Initial implementation of new 0.3 interfaces.
* Support for ROS 1.3 `std_msgs::Header` changes.
0.2.0 (2010-08-17)
------------------
* Initial release to ROS C-turtle.
.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1
.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4
.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7
.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8
.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9
.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10
.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11
.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12
.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13
.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14
.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17
.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18
.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20
| 0
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs
|
apollo_public_repos/apollo-contrib/velodyne_vls/velodyne_msgs/msg/VelodynePacket.msg
|
# Raw Velodyne LIDAR packet.
time stamp # packet timestamp
uint8[1206] data # packet contents
| 0
|
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