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feat: minimize difference with v1.3.2
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,199 @@ | ||
| /********************************************************************************************************************* | ||
| Copyright (c) 2020 RoboSense | ||
| All rights reserved | ||
| By downloading, copying, installing or using the software you agree to this license. If you do not agree to this | ||
| license, do not download, install, copy or use the software. | ||
| License Agreement | ||
| For RoboSense LiDAR SDK Library | ||
| (3-clause BSD License) | ||
| Redistribution and use in source and binary forms, with or without modification, are permitted provided that the | ||
| following conditions are met: | ||
| 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following | ||
| disclaimer. | ||
| 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following | ||
| disclaimer in the documentation and/or other materials provided with the distribution. | ||
| 3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other contributors may be used | ||
| to endorse or promote products derived from this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, | ||
| WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF | ||
| THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************************************************************/ | ||
|
|
||
| #pragma once | ||
| #include <rs_driver/driver/decoder/decoder_base.hpp> | ||
| #include <rs_driver/driver/decoder/decoder_RS128.hpp> | ||
| namespace robosense | ||
| { | ||
| namespace lidar | ||
| { | ||
|
|
||
| template <typename T_Point> | ||
| class DecoderRS128_40 : public DecoderRS128<T_Point> | ||
| { | ||
| public: | ||
| explicit DecoderRS128_40(const RSDecoderParam& param, const LidarConstantParameter& lidar_const_param); | ||
| RSDecoderResult decodeMsopPkt(const uint8_t* pkt, std::vector<T_Point>& vec, int& height, int& azimuth); | ||
| }; | ||
|
|
||
| template <typename T_Point> | ||
| inline DecoderRS128_40<T_Point>::DecoderRS128_40(const RSDecoderParam& param, const LidarConstantParameter& lidar_const_param) | ||
| : DecoderRS128<T_Point>(param, lidar_const_param) | ||
| { | ||
| } | ||
|
|
||
| template <typename T_Point> | ||
| inline RSDecoderResult DecoderRS128_40<T_Point>::decodeMsopPkt(const uint8_t* pkt, std::vector<T_Point>& vec, int& height, | ||
| int& azimuth) | ||
| { | ||
| height = this->lidar_const_param_.LASER_NUM; | ||
|
|
||
| const RS128MsopPkt* mpkt_ptr = reinterpret_cast<const RS128MsopPkt*>(pkt); | ||
| if (mpkt_ptr->header.id != this->lidar_const_param_.MSOP_ID) | ||
| { | ||
| return RSDecoderResult::WRONG_PKT_HEADER; | ||
| } | ||
|
|
||
| this->protocol_ver_ = RS_SWAP_SHORT(mpkt_ptr->header.protocol_version); | ||
|
|
||
| azimuth = RS_SWAP_SHORT(mpkt_ptr->blocks[0].azimuth); | ||
| this->check_camera_trigger_func_(azimuth, pkt); | ||
|
|
||
| this->current_temperature_ = this->computeTemperature(mpkt_ptr->header.temp_low, mpkt_ptr->header.temp_high); | ||
|
|
||
| double block_timestamp = this->get_point_time_func_(pkt); | ||
|
|
||
| float azi_diff = 0; | ||
| for (uint16_t blk_idx = 0; blk_idx < this->lidar_const_param_.BLOCKS_PER_PKT; blk_idx++) | ||
| { | ||
| if (mpkt_ptr->blocks[blk_idx].id != this->lidar_const_param_.BLOCK_ID) | ||
| { | ||
| break; | ||
| } | ||
|
|
||
| int cur_azi = RS_SWAP_SHORT(mpkt_ptr->blocks[blk_idx].azimuth); | ||
|
|
||
| if (this->echo_mode_ == ECHO_DUAL) | ||
| { | ||
| azi_diff = static_cast<float>( | ||
| (RS_ONE_ROUND + RS_SWAP_SHORT(mpkt_ptr->blocks[2].azimuth) - RS_SWAP_SHORT(mpkt_ptr->blocks[0].azimuth)) % | ||
| RS_ONE_ROUND); | ||
|
|
||
| if (RS_SWAP_SHORT(mpkt_ptr->blocks[0].azimuth) == RS_SWAP_SHORT(mpkt_ptr->blocks[1].azimuth)) ///< AAB | ||
| { | ||
| if (blk_idx == 2) | ||
| { | ||
| block_timestamp = (azi_diff > 100) ? (block_timestamp + this->fov_time_jump_diff_) : | ||
| (block_timestamp + this->time_duration_between_blocks_); | ||
| } | ||
| } | ||
| else ///< ABB | ||
| { | ||
| if (blk_idx == 1) | ||
| { | ||
| block_timestamp = (azi_diff > 100) ? (block_timestamp + this->fov_time_jump_diff_) : | ||
| (block_timestamp + this->time_duration_between_blocks_); | ||
| } | ||
| } | ||
| } | ||
| else | ||
| { | ||
| if (blk_idx < (this->lidar_const_param_.BLOCKS_PER_PKT - 1)) | ||
| { | ||
| azi_diff = static_cast<float>((RS_ONE_ROUND + RS_SWAP_SHORT(mpkt_ptr->blocks[blk_idx + 1].azimuth) - cur_azi) % | ||
| RS_ONE_ROUND); | ||
| } | ||
| else | ||
| { | ||
| azi_diff = static_cast<float>((RS_ONE_ROUND + cur_azi - RS_SWAP_SHORT(mpkt_ptr->blocks[blk_idx - 1].azimuth)) % | ||
| RS_ONE_ROUND); | ||
| } | ||
|
|
||
| if (blk_idx > 0) | ||
| { | ||
| block_timestamp = (azi_diff > 100) ? (block_timestamp + this->fov_time_jump_diff_) : | ||
| (block_timestamp + this->time_duration_between_blocks_); | ||
| } | ||
| } | ||
|
|
||
| azi_diff = (azi_diff > 100) ? this->azi_diff_between_block_theoretical_ : azi_diff; | ||
|
|
||
| for (uint16_t channel_idx = 0; channel_idx < this->lidar_const_param_.CHANNELS_PER_BLOCK; channel_idx++) | ||
| { | ||
| static const float tss[128] = | ||
| { | ||
| 0.24f, 0.24f, 0.24f, 0.24f, 1.084f, 1.084f, 1.084f, 1.084f, | ||
| 1.932f, 1.932f, 1.932f, 1.932f, 2.872f, 2.872f, 2.872f, 2.872f, | ||
| 3.824f, 3.824f, 3.824f, 3.824f, 4.684f, 4.684f, 4.684f, 4.684f, | ||
| 5.540f, 5.540f, 5.540f, 5.540f, 6.496f, 6.496f, 6.496f, 6.496f, | ||
| 7.440f, 7.440f, 7.440f, 7.440f, 9.348f, 9.348f, 9.348f, 9.348f, | ||
| 11.260f, 11.260f, 11.260f, 11.260f, 13.264f, 13.264f, 13.264f, 13.264f, | ||
| 15.280f, 15.280f, 15.280f, 15.280f, 17.204f, 17.204f, 17.204f, 17.204f, | ||
| 19.124f, 19.124f, 19.124f, 19.124f, 21.144f, 21.144f, 21.144f, 21.144f, | ||
| 23.152f, 23.152f, 23.152f, 23.152f, 25.060f, 25.060f, 25.060f, 25.060f, | ||
| 26.972f, 26.972f, 26.972f, 26.972f, 28.976f, 28.976f, 28.976f, 28.976f, | ||
| 30.992f, 30.992f, 30.992f, 30.992f, 32.916f, 32.916f, 32.916f, 32.916f, | ||
| 34.836f, 34.836f, 34.836f, 34.836f, 36.856f, 36.856f, 36.856f, 36.856f, | ||
| 38.864f, 38.864f, 38.864f, 38.864f, 40.272f, 40.272f, 40.272f, 40.272f, | ||
| 41.684f, 41.684f, 41.684f, 41.684f, 43.188f, 43.188f, 43.188f, 43.188f, | ||
| 44.704f, 44.704f, 44.704f, 44.704f, 46.128f, 46.128f, 46.128f, 46.128f, | ||
| 47.548f, 47.548f, 47.548f, 47.548f, 49.068f, 49.068f, 49.068f, 49.068f | ||
| }; | ||
| static const float blk_ts = 50.984f; | ||
|
|
||
| float azi_channel_ori = cur_azi + azi_diff * tss[channel_idx] / blk_ts; | ||
|
|
||
| int azi_channel_final = this->azimuthCalibration(azi_channel_ori, channel_idx); | ||
| float distance = RS_SWAP_SHORT(mpkt_ptr->blocks[blk_idx].channels[channel_idx].distance) * | ||
| this->lidar_const_param_.DIS_RESOLUTION; | ||
| //int angle_horiz = static_cast<int>(azi_channel_ori + RS_ONE_ROUND) % RS_ONE_ROUND; | ||
| int angle_horiz_x = static_cast<int>(azi_channel_ori - this->lidar_alph0_ + RS_ONE_ROUND) % RS_ONE_ROUND; | ||
| int angle_vert = ((this->vert_angle_list_[channel_idx]) + RS_ONE_ROUND) % RS_ONE_ROUND; | ||
|
|
||
| T_Point point; | ||
| if ((distance <= this->param_.max_distance && distance >= this->param_.min_distance) && | ||
| ((this->angle_flag_ && azi_channel_final >= this->start_angle_ && azi_channel_final <= this->end_angle_) || | ||
| (!this->angle_flag_ && | ||
| ((azi_channel_final >= this->start_angle_) || (azi_channel_final <= this->end_angle_))))) | ||
| { | ||
| float x = distance * this->checkCosTable(angle_vert) * this->checkCosTable(azi_channel_final) + | ||
| this->lidar_Rxy_ * this->checkCosTable(angle_horiz_x); | ||
| float y = -distance * this->checkCosTable(angle_vert) * this->checkSinTable(azi_channel_final) - | ||
| this->lidar_Rxy_ * this->checkSinTable(angle_horiz_x); | ||
| float z = distance * this->checkSinTable(angle_vert) + this->lidar_const_param_.RZ; | ||
|
|
||
| uint8_t intensity = mpkt_ptr->blocks[blk_idx].channels[channel_idx].intensity; | ||
| this->transformPoint(x, y, z); | ||
| setX(point, x); | ||
| setY(point, y); | ||
| setZ(point, z); | ||
| setIntensity(point, intensity); | ||
| } | ||
| else | ||
| { | ||
| setX(point, NAN); | ||
| setY(point, NAN); | ||
| setZ(point, NAN); | ||
| setIntensity(point, 0); | ||
| } | ||
| setRing(point, this->beam_ring_table_[channel_idx]); | ||
| setTimestamp(point, block_timestamp); | ||
| vec.emplace_back(std::move(point)); | ||
| } | ||
| } | ||
|
|
||
| return RSDecoderResult::DECODE_OK; | ||
| } | ||
|
|
||
| } // namespace lidar | ||
| } // namespace robosense |
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