cut at specific angle feature #35
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I've been using this PR in our project for a while. There is a bug where the timestamp is sometimes pulled from the wrong packet. Under this PR it still pulls the timestamp from |
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Thanks for the report @lemiant. I have merged this PR into a separate |
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| static int last_base_rotation = -1; | ||
| // Extract base rotation of first block in packet | ||
| std::size_t rot_data_pos = 100*0+2; |
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doesn't this always equal to 2? why have 100*0?
| { | ||
| while(true) | ||
| { | ||
| int rc = input_->getPacket(&tmp_packet); |
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The API has changed here. getPacket now expects two arguments.
velodyne/velodyne_driver/include/velodyne_driver/input.h
Lines 80 to 81 in 3747e93
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This only leads to an error, if you try to merge the "cut at specific angle" feature into the latest master branch. Please see #126 for an updated version of this feature.
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Stale PR. Updated with #126. |
Hello,
this pull request should fix #33. I tested it sucessfully with a HDL 32E. We also used this code with an HDL 64E S2. The block-format never changed since 2008 I think.
A new parameter "cut_angle" is introduced, where one can set the desired "cut angle" in degree in device coordinates.
Standard behaviour is unchanged, so no code should be broken by this fix.
Denis