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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53 | for (typename QVector<LidarLayer>::iterator it = layers.begin(), itend = layers.end(); it != itend; ++it)
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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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