Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan.
It is mandatory to use some calibration data to convert Velodyne scans into 3D point clouds. Users should normally use the XML files provided by the manufacturer with each scanner, but default calibration files can be loaded with VelodyneCalibration::LoadDefaultCalibration().
- Note
- New in MRPT 1.4.0
- See also
- CObservationVelodyneScan, CVelodyneScanner
Definition at line 30 of file VelodyneCalibration.h.
#include <mrpt/obs/VelodyneCalibration.h>
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| VelodyneCalibration () |
| Default ctor (leaves all empty) More...
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bool | empty () const |
| Returns true if no calibration has been loaded yet. More...
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void | clear () |
| Clear all previous contents. More...
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bool | loadFromXMLFile (const std::string &velodyne_calibration_xml_filename) |
| Loads calibration from file, in the format supplied by the manufacturer. More...
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bool | loadFromXMLText (const std::string &xml_file_contents) |
| Loads calibration from a string containing an entire XML calibration file. More...
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◆ VelodyneCalibration()
mrpt::obs::VelodyneCalibration::VelodyneCalibration |
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Default ctor (leaves all empty)
◆ clear()
void mrpt::obs::VelodyneCalibration::clear |
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Clear all previous contents.
◆ empty()
bool mrpt::obs::VelodyneCalibration::empty |
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const |
Returns true if no calibration has been loaded yet.
◆ internal_loadFromXMLNode()
bool mrpt::obs::VelodyneCalibration::internal_loadFromXMLNode |
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void * |
node | ) |
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◆ LoadDefaultCalibration()
static const VelodyneCalibration & mrpt::obs::VelodyneCalibration::LoadDefaultCalibration |
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const std::string & |
lidar_model | ) |
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Loads default calibration files for common LIDAR models.
- Parameters
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[in] | lidar_model | Valid model names are: VLP16 , HDL32 |
- Returns
- It always return a calibration structure, but it may be empty if the model name is unknown. See empty()
- Note
- Default files can be inspected in
[MRPT_SRC or /usr]/share/mrpt/config_files/rawlog-grabber/velodyne_default_calib_{*}.xml
◆ loadFromXMLFile()
bool mrpt::obs::VelodyneCalibration::loadFromXMLFile |
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const std::string & |
velodyne_calibration_xml_filename | ) |
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Loads calibration from file, in the format supplied by the manufacturer.
- Returns
- false on any error, true on success
◆ loadFromXMLText()
bool mrpt::obs::VelodyneCalibration::loadFromXMLText |
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const std::string & |
xml_file_contents | ) |
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Loads calibration from a string containing an entire XML calibration file.
- See also
- loadFromXMLFile
- Returns
- false on any error, true on success
◆ laser_corrections
std::vector<PerLaserCalib> mrpt::obs::VelodyneCalibration::laser_corrections |