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Update code annotation
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@HangYin2015 @chrberger
HangYin2015 authored and chrberger committed Sep 25, 2017
1 parent 85cac84 commit 6138ce4
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Showing 2 changed files with 56 additions and 54 deletions.
14 changes: 7 additions & 7 deletions odcockpit/include/plugins/environmentviewer/EnvironmentViewerGLWidget.h
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Expand Up @@ -147,16 +147,16 @@ class SelectableNodeDescriptor;
const float START_V_ANGLE_32 = -30.67; //The starting angle for HDL-32E. Vertical angle ranges from -30.67 to 10.67 degress, with alternating increment 1.33 and 1.34
const float V_INCREMENT_32_A = 1.33; //The first vertical angle increment for HDL-32E
const float V_INCREMENT_32_B = 1.34; //The second vertical angle increment for HDL-32E
uint8_t m_12_startingSensorID_32; //From which layer for the first part of CPC for HDL-32E
uint8_t m_11_startingSensorID_32; //From which layer for the second part of CPC for HDL-32E
uint8_t m_9_startingSensorID_32; //From which layer for the third part of CPC for HDL-32E
float m_12_verticalAngles[12]; //Stores the 12 verticle angles for the first part (including 12 layers) of CPC for HDL-32E
float m_11_verticalAngles[11]; //Stores the 11 verticle angles for the second part (including 11 layers) of CPC for HDL-32E
float m_9_verticalAngles[9]; //Stores the 9 verticle angles for the third part (including 9 layers) of CPC for HDL-32E
uint8_t m_12_startingSensorID_32; //From which layer for the first part(12 layers) of CPC for HDL-32E
uint8_t m_11_startingSensorID_32; //From which layer for the second part(11 layers) of CPC for HDL-32E
uint8_t m_9_startingSensorID_32; //From which layer for the third part(9 layers) of CPC for HDL-32E
float m_12_verticalAngles[12]; //Store the 12 vertical angles for the first part (including 12 layers) of CPC for HDL-32E
float m_11_verticalAngles[11]; //Store the 11 vertical angles for the second part (including 11 layers) of CPC for HDL-32E
float m_9_verticalAngles[9]; //Store the 9 vertical angles for the third part (including 9 layers) of CPC for HDL-32E
std::string m_12_cpcDistance_32; //The distance string for the first part of CPC for HDL-32E
std::string m_11_cpcDistance_32; //The distance string for the second part of CPC for HDL-32E
std::string m_9_cpcDistance_32; //The distance string for the third part of CPC for HDL-32E
uint64_t m_previousCPC32TimeStamp;
uint64_t m_previousCPC32TimeStamp;//The sample time of the previous CPC container belonging to a HDL-32E scan
uint8_t m_cpcMask_32; //The lowest 3 bits represent which part(s) of HDL-32E CPC of the same scan has been received. 0100 means the first part has arrived; 0010 means the second part has arrived; 0001 means the third part has arrived.
odcore::data::CompactPointCloud m_cpc;
odcore::base::Mutex m_cpcMutex;
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96 changes: 49 additions & 47 deletions odcockpit/src/plugins/environmentviewer/EnvironmentViewerGLWidget.cpp
View file
Expand Up @@ -125,9 +125,9 @@ namespace cockpit {
m_velodyneSharedMemory(NULL),
m_hasAttachedToSharedImageMemory(false),
m_velodyneFrame(),
m_12_startingSensorID_32(0),
m_11_startingSensorID_32(2),
m_9_startingSensorID_32(5),
m_12_startingSensorID_32(0),//The first HDL-32E CPC starts from Layer 0
m_11_startingSensorID_32(2),//The second HDL-32E CPC starts from Layer 2
m_9_startingSensorID_32(5),//The third HDL-32E CPC starts from Layer 5
m_12_cpcDistance_32(""),
m_11_cpcDistance_32(""),
m_9_cpcDistance_32(""),
Expand All @@ -138,41 +138,42 @@ namespace cockpit {
m_SPCReceived(false),
m_CPCReceived(false),
m_recordingYear(0) {
float sensorIDs_32[32];
bool use32IncrementA = true;
sensorIDs_32[0] = START_V_ANGLE_32;

float sensorIDs_32[32];
bool use32IncrementA = true;
sensorIDs_32[0] = START_V_ANGLE_32;
//Derive the 32 vertical angles for HDL-32E based on the starting angle and the two increments
for (uint8_t counter = 1; counter < 31; counter++) {
if (use32IncrementA) {
sensorIDs_32[counter] += V_INCREMENT_32_A;
} else {
sensorIDs_32[counter] += V_INCREMENT_32_B;
}
use32IncrementA = !use32IncrementA;
}
//Derive the 12 vertical angles associated with the first part of CPC for HDL-32E
m_12_verticalAngles[0] = sensorIDs_32[m_12_startingSensorID_32];
uint8_t currentSensorID = m_12_startingSensorID_32 + 1;
m_12_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 11; counter++) {
m_12_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
//Derive the 11 vertical angles associated with the second part of CPC for HDL-32E
m_11_verticalAngles[0] = sensorIDs_32[m_11_startingSensorID_32];
currentSensorID = m_11_startingSensorID_32 + 1;
m_11_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 10; counter++) {
m_11_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
//Derive the 9 vertical angles associated with the third part of CPC for HDL-32E
m_9_verticalAngles[0] = sensorIDs_32[m_9_startingSensorID_32];
currentSensorID = m_9_startingSensorID_32 + 1;
m_9_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 8; counter++) {
m_9_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
for (uint8_t counter = 1; counter < 31; counter++) {
if (use32IncrementA) {
sensorIDs_32[counter] += V_INCREMENT_32_A;
} else {
sensorIDs_32[counter] += V_INCREMENT_32_B;
}
use32IncrementA = !use32IncrementA;
}
//Derive the 12 vertical angles associated with the first part of CPC for HDL-32E
m_12_verticalAngles[0] = sensorIDs_32[m_12_startingSensorID_32];
uint8_t currentSensorID = m_12_startingSensorID_32 + 1;
m_12_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 11; counter++) {
m_12_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
//Derive the 11 vertical angles associated with the second part of CPC for HDL-32E
m_11_verticalAngles[0] = sensorIDs_32[m_11_startingSensorID_32];
currentSensorID = m_11_startingSensorID_32 + 1;
m_11_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 10; counter++) {
m_11_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
//Derive the 9 vertical angles associated with the third part of CPC for HDL-32E
m_9_verticalAngles[0] = sensorIDs_32[m_9_startingSensorID_32];
currentSensorID = m_9_startingSensorID_32 + 1;
m_9_verticalAngles[1] = sensorIDs_32[currentSensorID];
for (uint8_t counter = 2; counter < 8; counter++) {
m_9_verticalAngles[counter] = sensorIDs_32[currentSensorID + 3];
}
}

EnvironmentViewerGLWidget::~EnvironmentViewerGLWidget() {
OPENDAVINCI_CORE_DELETE_POINTER(m_root);
OPENDAVINCI_CORE_DELETE_POINTER(m_selectableNodeDescriptorTree);
Expand Down Expand Up @@ -356,7 +357,7 @@ namespace cockpit {
switch (distanceEncoding) {
case CompactPointCloud::CM : distance = static_cast<float>(distanceCPCPoint / 100.0f); //convert to meter from resolution 1 cm
break;
case CompactPointCloud::MM : distance = static_cast<float>(distanceCPCPoint / 500.0f); //convert to meter from resolution 2mm
case CompactPointCloud::MM : distance = static_cast<float>(distanceCPCPoint / 500.0f); //convert to meter from resolution 2 mm
break;
}
if (distance > 1.0f) {//Only viualize the point when the distance is larger than 1m
Expand Down Expand Up @@ -388,7 +389,7 @@ namespace cockpit {
switch (distanceEncoding) {
case CompactPointCloud::CM : distance = static_cast<float>(cappedDistance / 100.0f); //convert to meter from resolution 1 cm
break;
case CompactPointCloud::MM : distance = static_cast<float>(cappedDistance / 500.0f); //convert to meter from resolution 2mm
case CompactPointCloud::MM : distance = static_cast<float>(cappedDistance / 500.0f); //convert to meter from resolution 2 mm
break;
}
if (distance > 1.0f) {//Only viualize the point when the distance is larger than 1m
Expand Down Expand Up @@ -495,7 +496,7 @@ namespace cockpit {
HDL-32E: from -30.67 to 10.67 degrees, with alternating increment 1.33 and 1.34).
A compact point cloud contains: (1) the starting azimuth, (2) the ending azimuth,
(3) number of points per azimuth, and (4) a string with the distance values of all
points in the container*/
points in the container */
if (m_CPCReceived && !m_SPCReceived) {
Lock lockCPC(m_cpcMutex);
const float startAzimuth = m_cpc.getStartAzimuth();
Expand Down Expand Up @@ -531,7 +532,7 @@ namespace cockpit {
glColor3f(1.0f, 1.0f, 0.0);//Yellow color

uint16_t distance_integer = 0;
if (entriesPerAzimuth == 16) {
if (entriesPerAzimuth == 16) {//A VLP-16 CPC
float azimuth = startAzimuth;
const string distances = m_cpc.getDistances();
const uint32_t numberOfPoints = distances.size() / 2;
Expand All @@ -552,8 +553,8 @@ namespace cockpit {
}
azimuth += azimuthIncrement;
}
} else {
if ((m_cpcMask_32 & 0x04) > 0) {
} else {//A HDL-32E CPC, one of the three parts of a complete scan
if ((m_cpcMask_32 & 0x04) > 0) {//The first part, 12 layers
float azimuth = startAzimuth;
const uint32_t numberOfPoints = m_12_cpcDistance_32.size() / 2;
const uint32_t numberOfAzimuths = numberOfPoints / entriesPerAzimuth;
Expand All @@ -571,7 +572,7 @@ namespace cockpit {
azimuth += azimuthIncrement;
}
}
if ((m_cpcMask_32 & 0x02) > 0) {
if ((m_cpcMask_32 & 0x02) > 0) {//The second part, 11 layers
float azimuth = startAzimuth;
const uint32_t numberOfPoints = m_11_cpcDistance_32.size() / 2;
const uint32_t numberOfAzimuths = numberOfPoints / entriesPerAzimuth;
Expand All @@ -589,7 +590,7 @@ namespace cockpit {
azimuth += azimuthIncrement;
}
}
if ((m_cpcMask_32 & 0x01) > 0) {
if ((m_cpcMask_32 & 0x01) > 0) {//The third part, 9 layers
float azimuth = startAzimuth;
const uint32_t numberOfPoints = m_9_cpcDistance_32.size() / 2;
const uint32_t numberOfAzimuths = numberOfPoints / entriesPerAzimuth;
Expand Down Expand Up @@ -762,12 +763,13 @@ namespace cockpit {
Lock lockCPC(m_cpcMutex);
m_cpc = c.getData<CompactPointCloud>();
uint8_t numberOfLayers = m_cpc.getEntriesPerAzimuth();
//Currently odcockpit supports the visualization of SPC for Velodyne 16/32/64 and the visualization of CPC for Velodyne 16/32.
//If a CPC does not contain 16 layers, it is assumed to be a HDL-32E CPC
if (numberOfLayers != 16) {
uint64_t currentTime = ts.toMicroseconds();
//Check if this HDL-32E CPC comes from a new scan, the interval between two scans is roughly 100ms. It is safe to assume that a new CPC comes from a new scan if the interval is longer than 50ms
//Check if this HDL-32E CPC comes from a new scan. The interval between two scans is roughly 100ms. It is safe to assume that a new CPC comes from a new scan if the interval is longer than 50ms
if (currentTime - m_previousCPC32TimeStamp > 50000) {
//m_cpcString_32 = m_cpc.getDistances();
m_cpcMask_32 = 0;
m_cpcMask_32 = 0;//Reset the mask that represents which HDL-32E CPC part has arrived
}
m_previousCPC32TimeStamp = currentTime;
if (numberOfLayers == 12) {
Expand Down

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