[89] | 1 | #ifndef STRUCTURE_LIDAR_H
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| 2 | #define STRUCTURE_LIDAR_H
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| 3 |
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| 4 | #include <Pacpus/PacpusTools/pacpusStruct.h>
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| 5 | #include <QVariant>
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| 6 | #include <QVector>
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| 7 | #include <QMatrix4x4>
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| 8 |
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| 9 | namespace pacpus {
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| 10 |
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| 11 | typedef enum {
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| 12 | NONE = 0,
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| 13 | ALASCA_XT = 10,
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| 14 | SICK = 20,
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| 15 | HOKUYO_ = 30,
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| 16 | HOKUYO_30LX = 40,
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| 17 | VELODYNE_64HEL = 50
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| 18 | } ScannerType;
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| 19 |
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| 20 | typedef struct {
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| 21 | float x,y,z;
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| 22 | quint16 d; // distance in cm
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| 23 | quint8 echo;
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| 24 | quint8 intensity;
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| 25 | } LidarPoint; // Plusieurs
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| 26 |
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| 27 | //template <class T>
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| 28 | struct LidarLayer{
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| 29 | quint16 layerNumber;
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| 30 | quint16 nbPoint;
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| 31 | float verticalAngle;
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| 32 | //QVector<T> points;
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| 33 | QVector<LidarPoint> points;
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| 34 | };
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| 35 |
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| 36 | //template <class T>
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| 37 | struct LidarScan : public PacpusTimeStampedData{
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| 38 |
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| 39 | quint8 scannerType;
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| 40 | quint8 scannerId;
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| 41 | quint8 nbLayer;
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| 42 | quint32 nbPoint;
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| 43 | QMatrix4x4 calib;
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| 44 | //int reserved;
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| 45 | //QVector< LidarLayer<T> > layers;
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| 46 | QVector<LidarLayer> layers;
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| 47 | LidarScan(int layerCount = 1, int pointsPerLayer = 2100){
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| 48 | layers.resize(layerCount);
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| 49 | /*for (typename QVector< LidarLayer<T> >::iterator it = layers.begin(), itend = layers.end(); it != itend; ++it) {
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| 50 | it->points.reserve(pointsPerLayer);
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| 51 | }*/
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| 52 | nbLayer = layerCount;
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[94] | 53 | for (/*typename*/ QVector<LidarLayer>::iterator it = layers.begin(), itend = layers.end(); it != itend; ++it)
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[89] | 54 | it->points.reserve(pointsPerLayer);
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| 55 |
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| 56 | }
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| 57 | };
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| 58 |
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| 59 | // A définir
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| 60 | typedef struct {
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| 61 |
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| 62 |
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| 63 | } LidarConfig;
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| 64 |
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| 65 | } // end namespace pacpus
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| 66 |
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| 67 | Q_DECLARE_METATYPE(pacpus::LidarPoint)
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| 68 | inline QDataStream & operator << (QDataStream & out, const pacpus::LidarPoint & Valeur){
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| 69 | out << Valeur.x << Valeur.y << Valeur.z << Valeur.intensity << Valeur.d << Valeur.echo;
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| 70 | return out;}
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| 71 |
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| 72 | inline QDataStream & operator >> (QDataStream & in, pacpus::LidarPoint & Valeur){
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| 73 | in >> Valeur.x >> Valeur.y >> Valeur.z >> Valeur.intensity >> Valeur.d >> Valeur.echo;
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| 74 | return in;}
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| 75 |
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| 76 | Q_DECLARE_METATYPE(pacpus::LidarLayer)
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| 77 | inline QDataStream & operator << (QDataStream & out, const pacpus::LidarLayer & Valeur){
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| 78 | out << Valeur.nbPoint << Valeur.layerNumber << Valeur.verticalAngle;
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| 79 | for(int i = 0; i < Valeur.nbPoint ; ++i)
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| 80 | out << Valeur.points[i];
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| 81 | return out;}
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| 82 |
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| 83 | inline QDataStream & operator >> (QDataStream & in, pacpus::LidarLayer & Valeur){
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| 84 | in >> Valeur.nbPoint >> Valeur.layerNumber >> Valeur.verticalAngle;
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| 85 | for(int i = 0; i < Valeur.nbPoint; ++i)
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| 86 | in >> Valeur.points[i];
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| 87 | return in;}
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| 88 |
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| 89 | Q_DECLARE_METATYPE(pacpus::LidarScan)
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| 90 | inline QDataStream & operator << (QDataStream & out, const pacpus::LidarScan & Valeur){
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| 91 | out << (quint64)Valeur.time << Valeur.timerange << Valeur.sequenceNumber <<
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| 92 | Valeur.scannerId << Valeur.scannerType << Valeur.nbPoint << Valeur.nbLayer;
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| 93 | for(int i=0; i < Valeur.nbLayer ; ++i)
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| 94 | out << Valeur.layers[i];
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| 95 | return out;
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| 96 | }
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| 97 |
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| 98 | inline QDataStream & operator >> (QDataStream & in, pacpus::LidarScan & Valeur){
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| 99 | in >> (quint64&)Valeur.time >> Valeur.timerange >> Valeur.sequenceNumber >>
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| 100 | Valeur.scannerId >> Valeur.scannerType >> Valeur.nbPoint >> Valeur.nbLayer;
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| 101 | for(int i=0; i < Valeur.nbLayer ; ++i)
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| 102 | in >> Valeur.layers[i];
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| 103 | return in;
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| 104 | }
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| 105 |
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| 106 | #endif // STRUCTURE_LIDAR_H
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