MRPT  1.9.9
VelodyneCalibration.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <string>
12 #include <vector>
13 
14 namespace mrpt::obs
15 {
16 /** Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan
17  *
18  * It is mandatory to use some calibration data to convert Velodyne scans into
19  * 3D point clouds. Users should
20  * normally use the XML files provided by the manufacturer with each scanner,
21  * but default calibration files can be
22  * loaded with \a VelodyneCalibration::LoadDefaultCalibration().
23  *
24  * \note New in MRPT 1.4.0
25  * \sa CObservationVelodyneScan, CVelodyneScanner
26  * \ingroup mrpt_obs_grp
27  */
29 {
30  /** Default ctor (leaves all empty) */
32 
33  /** Returns true if no calibration has been loaded yet */
34  bool empty() const;
35  /** Clear all previous contents */
36  void clear();
37 
38  /** Loads default calibration files for common LIDAR models.
39  * \param[in] lidar_model Valid model names are: `VLP16`, `HDL32`, `HDL64`
40  * \return It always return a calibration structure, but it may be empty if
41  * the model name is unknown. See \a empty()
42  * \note Default files can be inspected in `[MRPT_SRC or
43  * /usr]/share/mrpt/config_files/rawlog-grabber/velodyne_default_calib_{*}.xml`
44  */
46  const std::string& lidar_model);
47 
48  /** Loads calibration from file, in the format supplied by the manufacturer.
49  * \return false on any error, true on success */
50  bool loadFromXMLFile(const std::string& velodyne_calibration_xml_filename);
51  /** Loads calibration from a string containing an entire XML calibration
52  * file. \sa loadFromXMLFile \return false on any error, true on success */
53  bool loadFromXMLText(const std::string& xml_file_contents);
54  /** Loads calibration from a string containing an entire YAML calibration
55  * file. \sa loadFromYAMLFile, loadFromXMLFile \return false on any error,
56  * true on success */
57  bool loadFromYAMLText(const std::string& yaml_file_contents);
58  /** Loads calibration from a YAML calibration file.
59  * \sa loadFromYAMLText, loadFromXMLFile
60  * \return false on any error, true on success */
61  bool loadFromYAMLFile(const std::string& velodyne_calib_yaml_filename);
62 
63 // Pragma to ensure we can safely serialize some of these structures
64 #pragma pack(push, 1)
66  {
72 
73  PerLaserCalib();
74  };
75 #pragma pack(pop)
76 
77  std::vector<PerLaserCalib> laser_corrections;
78 
79  private:
80  bool internal_loadFromXMLNode(void* node);
81 };
82 } // namespace mrpt::obs
Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan.
bool loadFromXMLFile(const std::string &velodyne_calibration_xml_filename)
Loads calibration from file, in the format supplied by the manufacturer.
bool loadFromXMLText(const std::string &xml_file_contents)
Loads calibration from a string containing an entire XML calibration file.
VelodyneCalibration()
Default ctor (leaves all empty)
void clear()
Clear all previous contents.
std::vector< PerLaserCalib > laser_corrections
bool loadFromYAMLText(const std::string &yaml_file_contents)
Loads calibration from a string containing an entire YAML calibration file.
This namespace contains representation of robot actions and observations.
bool empty() const
Returns true if no calibration has been loaded yet.
bool loadFromYAMLFile(const std::string &velodyne_calib_yaml_filename)
Loads calibration from a YAML calibration file.
static const VelodyneCalibration & LoadDefaultCalibration(const std::string &lidar_model)
Loads default calibration files for common LIDAR models.



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