| [1] | 1 | #ifndef __ALASCA_DATA_H__
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| 2 | #define __ALASCA_DATA_H__
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| 3 |
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| 4 | #include "Pacpus/kernel/cstdint.h"
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| 5 | #include "Pacpus/kernel/road_time.h"
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| 6 |
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| 7 | ////////////////////////////////////////////////////////////////////////////////
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| 8 | // some constants defined for the Alasca component
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| 9 | static const uint32_t MAX_SCAN_POINT = 8648;
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| 10 | static const uint32_t MAX_SCAN_POINT_PER_LAYER = 2162;
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| 11 | static const int32_t UTC_MAGIC_WORD = 0x55544300;
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| 12 |
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| 13 | // Data recorded in the DBITE file
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| 14 | // Alasca XT laserscanner
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| 15 | typedef struct
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| 16 | {
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| 17 | int8_t scannertype;
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| 18 | uint32_t timeStart; // time start of the scan
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| 19 | float startAngle; // the start angle of the measurement (in [rad*e4])
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| 20 | float endAngle; // the stop angle of the measurement (in [rad*e4])
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| 21 | uint32_t nbPoint; // number of points
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| 22 | int32_t dataPos; // the position of the data in the binary file associated to the dbt file
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| 23 | } AlascaXT;
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| 24 |
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| 25 | // An Alasca point
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| 26 | // see Manual_Alasca.pdf page 27
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| 27 | // Orientation of the frame regarding the car:
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| 28 | // X ahead, Y on the left and Z upside
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| 29 | struct ScanPoint
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| 30 | {
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| 31 | uint8_t scannerId; // ID of the scanner that has detected the point - Alasca has type 2
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| 32 | uint8_t layerNumber; // channel (0 = bottom channel ...)
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| 33 | uint8_t echoNumber; // subChannel (0 = A, 1 = B ...)
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| 34 | uint8_t pointStatus; // ground, rain, dirt ...
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| 35 | int16_t x; // X coordinate in centimeters
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| 36 | int16_t y; // Y coordinate in centimeters
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| 37 | int16_t z; // Z coordinate in centimeters
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| 38 | uint16_t width; // the echo width
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| 39 | };
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| 40 |
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| 41 | // Data obtained after decoding
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| 42 | // The complete structure is written in shared memory
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| 43 | // Only the point[MAX_SCAN_POINT] array is recorded in the binary file
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| 44 | // associated to the DBT file (see struct AlascaXT)
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| 45 | struct ScanAlascaData
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| 46 | {
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| [37] | 47 | uint8_t scannertype; // Alasca has type 2
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| 48 | uint32_t timeStart; // time start of the scan
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| 49 | float startAngle; // the start angle of the measurement (in [rad*e4])
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| 50 | float endAngle; // the stop angle of the measurement (in [rad*e4])
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| [1] | 51 | uint32_t nbPoint; // number of points
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| [37] | 52 | road_time_t time; // DBT timestamp
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| 53 | road_timerange_t timerange; // DBT timerange
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| 54 | ScanPoint point[MAX_SCAN_POINT];// the data, see struct ScanPoint
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| [1] | 55 | };
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| 56 |
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| 57 | struct SortedScanAlascaData
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| 58 | {
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| 59 | double xYellow[MAX_SCAN_POINT_PER_LAYER];
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| 60 | double yYellow[MAX_SCAN_POINT_PER_LAYER];
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| 61 | double xGreen[MAX_SCAN_POINT_PER_LAYER];
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| 62 | double yGreen[MAX_SCAN_POINT_PER_LAYER];
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| 63 | double xBlue[MAX_SCAN_POINT_PER_LAYER];
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| 64 | double yBlue[MAX_SCAN_POINT_PER_LAYER];
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| 65 | double xRed[MAX_SCAN_POINT_PER_LAYER];
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| 66 | double yRed[MAX_SCAN_POINT_PER_LAYER];
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| 67 |
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| 68 | int32_t totalSize;
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| 69 | int32_t yellowSize;
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| 70 | int32_t greenSize;
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| 71 | int32_t blueSize;
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| 72 | int32_t redSize;
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| 73 | };
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| 74 |
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| 75 | #endif |
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