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autoware::drivers::velodyne_driver Namespace Reference

Classes, types, and definitions specifically relating to Velodyne LiDARs. In it's current incarnation, we consider Velodyne to be synonymous with LiDARs. In the future, this namespace will diverge to LiDAR and Velodyne for general LiDAR point cloud functionality, and specific driver functionality for velodne LiDARs respectively. More...

Classes

class  VelodyneTranslator
 This class handles converting packets from a velodyne lidar into cartesian points. More...
 
class  VLP16Data
 Class implementing VLP16 specific computation and caches. More...
 
class  VLP32CData
 
class  VLS128Data
 

Typedefs

using Vlp16Translator = VelodyneTranslator< VLP16Data >
 
using Vlp32CTranslator = VelodyneTranslator< VLP32CData >
 
using Vls128Translator = VelodyneTranslator< VLS128Data >
 

Functions

uint32_t to_uint32 (const uint8_t first, const uint8_t second)
 computes 2 byte representation of two bytes from out of order velodyne packet More...
 

Variables

static constexpr uint32_t AZIMUTH_ROTATION_RESOLUTION = 36000U
 resolution of azimuth angle: number of points in a full rotation More...
 
static constexpr float32_t DEG2IDX = static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F
 conversion from a degree (vlp) to idx More...
 
static constexpr uint32_t NUM_INTENSITY_VALUES = 256U
 how intensity is quantized: 1 byte = 256 possible values More...
 
static constexpr uint16_t NUM_BLOCKS_PER_PACKET = 12U
 number of data blocks per data packet More...
 
static constexpr uint16_t NUM_POINTS_PER_BLOCK = 32U
 number of points stored in a data block More...
 

Detailed Description

Classes, types, and definitions specifically relating to Velodyne LiDARs. In it's current incarnation, we consider Velodyne to be synonymous with LiDARs. In the future, this namespace will diverge to LiDAR and Velodyne for general LiDAR point cloud functionality, and specific driver functionality for velodne LiDARs respectively.

Typedef Documentation

◆ Vlp16Translator

using autoware::drivers::velodyne_driver::Vlp16Translator = typedef VelodyneTranslator<VLP16Data>

◆ Vlp32CTranslator

using autoware::drivers::velodyne_driver::Vlp32CTranslator = typedef VelodyneTranslator<VLP32CData>

◆ Vls128Translator

using autoware::drivers::velodyne_driver::Vls128Translator = typedef VelodyneTranslator<VLS128Data>

Function Documentation

◆ to_uint32()

uint32_t autoware::drivers::velodyne_driver::to_uint32 ( const uint8_t  first,
const uint8_t  second 
)
inline

computes 2 byte representation of two bytes from out of order velodyne packet

Variable Documentation

◆ AZIMUTH_ROTATION_RESOLUTION

constexpr uint32_t autoware::drivers::velodyne_driver::AZIMUTH_ROTATION_RESOLUTION = 36000U
staticconstexpr

resolution of azimuth angle: number of points in a full rotation

◆ DEG2IDX

constexpr float32_t autoware::drivers::velodyne_driver::DEG2IDX = static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F
staticconstexpr

conversion from a degree (vlp) to idx

◆ NUM_BLOCKS_PER_PACKET

constexpr uint16_t autoware::drivers::velodyne_driver::NUM_BLOCKS_PER_PACKET = 12U
staticconstexpr

number of data blocks per data packet

◆ NUM_INTENSITY_VALUES

constexpr uint32_t autoware::drivers::velodyne_driver::NUM_INTENSITY_VALUES = 256U
staticconstexpr

how intensity is quantized: 1 byte = 256 possible values

◆ NUM_POINTS_PER_BLOCK

constexpr uint16_t autoware::drivers::velodyne_driver::NUM_POINTS_PER_BLOCK = 32U
staticconstexpr

number of points stored in a data block