ark::lidar::VelodyneCalibrationData

Defined in header “ark/lidar/velodyne/types.hh”.

Common intrinsic data for Velodyne sensors. Allows you to translate the polar coordinates coming back from the LIDAR into X/Y/Z coordinates.

Variables

  • int32_t laser_count
    Total count of lasers on this Velodyne.

  • double meters_from_16bit_range
    The factor used to convert from the 16 bit range value to meters.

  • double radians_from_16bit_azimuth
    The factor used to convert from the 16 bit azimuth value to radians.

  • std::vector< double > laser_elevation_correction_radians
    Vector of elevation angle corrections ordered by laser id.

  • std::vector< double > laser_elevation_offsets_m
    Vector of elevation offsets ordered by laser id.

  • std::vector< double > laser_azimuth_correction_radians
    Vector of azimuth angle corrections ordered by laser id.