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PierrickKoch/S2-Unit#20 Flatness Intensity Cal db.xml

Created November 18, 2014 09:33
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S2-Unit#20 Flatness Intensity Cal db.xml
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<!DOCTYPE boost_serialization>
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</boost_serialization>
Raw
VelodyneSampleTransformationCode.cpp
//
// The following are some example C++ snippets that show how to parse a packet
// from the Velodyne Lidar Scanner and convert the data time of flight distance
// information into a 3D position.
//
//
// Various constants used in the example code:
//
const guint VLS_PORT = 2368; // UDP port for broadcast of packets from scanner
const guint VLS_PKT_LEN = 1248; // Total length of a lidar packet
const guint VLS_DATA_LEN_V1 = 1216; // Payload size of old lidar packet (not used anymore)
const guint VLS_DATA_LEN_V2 = 1214; // Payload size of new lidar packet
const guint VLS_TRAILER_LEN = 6; // Length of trailer data
const guint VLS_LINK_HDR_LEN = 14; // Length of ethernet header
const guint VLS_IP_VERSION = 4; // IPv4
const guint VLS_IP_PROTO = 17; // UDP
const guint VLS_HDR_LEN = 42; // Length of lidar packet headers (before payload)
const guint VLS_FIRING_PER_PKT = 12; // Number of firings per packet
const guint VLS_LASER_PER_FIRING = 32; // Number of lasers in a firing
const guint VLS_MAX_NUM_LASERS = 64; // Total number of lasers
const guint VLS_NUM_ROT_ANGLES = 36000; // Number of rotation values (0 through 35999(
const guint VLS_NUM_BLOCKS = 2; // Number of "firing blocks" (lasers 0-31 and 32-63)
// Enum for the "select" value used to descriminate between firing blocks
enum LaserBlockSelect {
BLOCK_0_TO_31 = 0xeeff,
BLOCK_32_TO_63 = 0xddff
};
//
// Data structures for data within a packet's payload. The payload for a packet
// consists of VLS_FIRING_PER_PKT number of vls_firing structs which contain
// the firing data.
//
/** Laser data point. */
typedef struct vls_point {
guint16 distance;
guint8 intensity;
} __attribute__((packed)) vls_point_t;
/** Firing data from a set of lasers. */
typedef struct vls_firing {
guint16 select; // which firing block this is from, block 0 (lasers 0-31) has a value
// of 0xeeff while block 1 (lasers 32-63) has a value of 0xddff
guint16 position;
vls_point_t points[VLS_LASER_PER_FIRING];
} __attribute__((packed)) vls_firing_t;
//
// Function to sanity check a packet header to make sure it is valid. These
// checks are overly paranoid and can probably be omitted, but are good for
// validating new code. This also shows what the each packet header is comprised
// of and at the end a pointer is returned which points to the data payload.
//
guchar *
sanityCheckPacket(boost::shared_ptr<PcapData> pkt) throw (VlsException)
{
// Check that the packet size is expected
if (pkt->getPktLen() != VLS_PKT_LEN || pkt->getPktCapLen() != VLS_PKT_LEN) {
std::stringstream errStr;
errStr << "Packet is incorrect size " << pkt->getPktLen();
throw VlsException(errStr.str());
}
// Advance the buffer pointer past the link level header
guchar *ptr = pkt->getPktData().get() + VLS_LINK_HDR_LEN;
// Check that IP header makes sense
struct ip *ip_hdr = (struct ip *)ptr;
if (ip_hdr->ip_v != VLS_IP_VERSION) // check IP version
throw VlsException("Invalid IP version");
if (ip_hdr->ip_p != VLS_IP_PROTO) // check that the protocol is UDP
throw VlsException("Invalid protocol");
// Advance the buffer pointer past the IP header
ptr += 4 * ip_hdr->ip_hl;
// Check that UDP header makes sense
struct udphdr *udp_hdr = (struct udphdr *)ptr;
if (ntohs(udp_hdr->dest) != VLS_PORT)
throw VlsException("Invalid UDP destination port");
guint16 len = ntohs(udp_hdr->len);
if (len != VLS_DATA_LEN_V1 && len != VLS_DATA_LEN_V2) {
std::stringstream errStr;
errStr << "Invalid data payload length " << ntohs(udp_hdr->len);
throw VlsException(errStr.str());
}
// Advance the buffer pointer past the UDP header
ptr += sizeof(struct udphdr);
return ptr;
}
//
// Function to add individual packets to a scan structure and determine the
// boundary between scans. In this code the notion of a scan is all packets
// within one rotation (from 0 to 359 degrees), although this is an arbitrary
// boundary.
//
void
ScanBuilder::addPkt(boost::shared_ptr<PcapData> pkt, const fpos_t &pos) throw (VlsException)
{
// First check that this isn't out of order
if (pkt->getPktTimestamp() < lastTimestamp_) {
std::stringstream errStr;
errStr << "New packet is out of order: last " << lastTimestamp_ << " cur " << pkt->getPktTimestamp();
throw VlsException(errStr.str());
}
// Sanity check the packet
guchar *ptr = sanityCheckPacket(pkt); // can throw
// Process the laser samples
guint numFirings = 0;
for (guint i=0; i < VLS_FIRING_PER_PKT; i++, numFirings++) {
// Map the firing structure into the packet
vls_firing_t *hdr = (vls_firing_t *)ptr;
// Check the position to see if we have wrapped around
if (hdr->position < lastPosition_) {
// Push the current packet into the scan if it isn't first sample
if (numFirings != 0)
curScan_->addPacket(pkt, pos, numFirings);
// Emit constructed last Packet
if (!curScan_->empty())
newScanSignal_.emit(curScan_);
// Create a new scan structure, increase index
numFirings = 0;
curScan_ = boost::shared_ptr<Scan>(new Scan(pcap_, db_));
}
// Advance pointer after checking for wrap around
ptr += sizeof(vls_firing_t);
// Update our position
lastPosition_ = hdr->position;
}
// Push the packet into the current Scan
if (numFirings != 0)
curScan_->addPacket(pkt, pos, numFirings);
// Don't forget to update the timestamp
lastTimestamp_ = pkt->getPktTimestamp();
}
//
// Function to convert time of flight information into 3D position. This isn't
// particularly optimized, for clarity sake, other than that most sine and cosine values have been
// precomputed. The "db" object holds the calibration data for each laser
// and the "pos" object holds the current 3D position of the scanner (i.e. from GPS).
// This code doesn't factor in orientation of the scanner (roll, pitch, yaw), but it is
// fairly straightforward to factor these values in. The physical offsets between the two laser blocks
// is not currently taken into account, but adding these corrections is fairly straightforward. Please
// note that this code is structured try and make it clear about how the various corrections are applied
// and is not the most efficient implementation.
//
// The following correction values are used:
//
// distLSB - the CM value for the lsb of a time of flight distance reading
// vertCorrection - the elevation angle for each laser (positive rotates the beam towards the top of the scanner)
// rotCorrection - the azimuth angle offset for each laser (offset from the current rotation angle, positive rotates the beam counter-clockwise)
// distCorrection - a CM distance offset applied to the time of flight distance given by laser
// horizOffsetCorrection - a horizontal parallax correction (orthogonal to laser beam)
// vertOffsetCorrection - a vertical parallax correction (orthogonal to laser beam)
//
// *Note: If the beam were initially pointed directly along +y axis of the world frame, a positive horizontal offset
// correction would shift the beam to the left (-x) and a positive vertial offset correction correction
// whould shift the beam up (+z)
//
// In these computations the positive Y-axis is at rotational degree zero and the scanner
// rotates clockwise around the Z-axis.
//
void
firingData::computeCoords(guint16 laserNum, boost::shared_ptr<CalibrationDB> db, GLpos_t &pos)
{
guint16 idx = laserNum % VLS_LASER_PER_FIRING;
boost::shared_ptr<CalibrationPoint> cal = db->getCalibration(laserNum);
if (data->points[idx].distance == 0) {
coords[idx].setX(0.0);
coords[idx].setY(0.0);
coords[idx].setZ(0.0);
return;
}
float distance = (db->getDistLSB() * (float)data->points[idx].distance) + cal->getDistCorrection();
float cosVertAngle = cal->getCosVertCorrection();
float sinVertAngle = cal->getSinVertCorrection();
float cosRotCorrection = cal->getCosRotCorrection();
float sinRotCorrection = cal->getSinRotCorrection();
// cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b)
// sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b)
float cosRotAngle = rotCosTable[data->position]*cosRotCorrection + rotSinTable[data->position]*sinRotCorrection;
float sinRotAngle = rotSinTable[data->position]*cosRotCorrection - rotCosTable[data->position]*sinRotCorrection;
distance /= VLS_DIM_SCALE;
// The offset corrections are to be applied in planes orthogonal to the rotatation corrected beam
float hOffsetCorr = cal->getHorizOffsetCorrection()/VLS_DIM_SCALE;
float vOffsetCorr = cal->getVertOffsetCorrection()/VLS_DIM_SCALE;
// / (distance, shifted by vertical offset)
// z ^ /
// | /
// --> y / distance
// / / / vertOffsetCorrection
// v x / / +-----------+
// / / | ^ |
// / / | | |
// vertOffset/ / |<----o | horizOffsetCorrection
// \ / | |
// \ 90deg / | |
// \ / xyDist +-----------+
// 90-theta \ / theta | Note: the "o" represents the beam pointing into the screen
// ------------------------ if the beam were aligned with +y in the world frame
// ^ | ^ then vertOffset would be aligned with +z and hoizOffset
// | distance*cos(theta) would be aligned with -x
// vertOffset*cos(90-theta) = vertOffset*sin(theta)
//
// Note: theta = vertCorrection angle
//
// / (x,y)
// /
// y /
// ^ / xyDist
// | / | /
// -->x \ |theta/
// \ | /
// horizOff \ | /
// ----/-------- xyDist*sin(theta)
//
// Note: theta = rotCorrection angle
// Compute the distance in the xy plane (without accounting for rotation)
float xyDistance = distance * cosVertAngle - vOffsetCorr * sinVertAngle;
// pos is the position of the scanner, factor in rotation angle and horizontal offset
coords[idx].setX(xyDistance * sinRotAngle - hOffsetCorr * cosRotAngle + pos.getX()/VLS_DIM_SCALE);
coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle + pos.getY()/VLS_DIM_SCALE);
coords[idx].setZ(distance * sinVertAngle + vOffsetCorr * cosVertAngle + pos.getZ()/VLS_DIM_SCALE);
}
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