lidar_utils/ouster/
consts.rs

1//! Constants used by Ouster data structures and calculations.
2
3/// Number of azimuth _ticks_ in one revolution.
4pub const ENCODER_TICKS_PER_REV: u32 = 90112;
5
6/// Number of laser returns in one column.
7pub const PIXELS_PER_COLUMN: usize = 64;
8
9/// Number of columns in one packet, where each column represents a vertical scan.
10pub const COLUMNS_PER_PACKET: usize = 16;
11
12/// Altitude angles of OS-1.
13pub const OS_1_BEAM_ALTITUDE_DEGREES: [f64; 64] = [
14    17.042, 16.427, 15.872, 15.324, 14.851, 14.269, 13.733, 13.18, 12.713, 12.136, 11.599, 11.067,
15    10.587, 10.046, 9.503, 8.966, 8.504, 7.952, 7.414, 6.869, 6.417, 5.866, 5.331, 4.792, 4.329,
16    3.791, 3.248, 2.699, 2.26, 1.709, 1.17, 0.62, 0.177, -0.37, -0.916, -1.466, -1.924, -2.454,
17    -3.001, -3.551, -3.997, -4.545, -5.088, -5.64, -6.08, -6.638, -7.17, -7.736, -8.197, -8.728,
18    -9.282, -9.854, -10.299, -10.833, -11.386, -11.965, -12.422, -12.957, -13.525, -14.109,
19    -14.576, -15.133, -15.691, -16.3,
20];
21pub const OS_1_BEAM_AZIMUTH_DEGREE_CORRECTIONS: [f64; 64] = [
22    3.073,
23    0.922,
24    -1.238,
25    -3.386,
26    3.057,
27    0.915,
28    -1.214,
29    -3.321,
30    3.06,
31    0.937,
32    -1.174,
33    -3.284,
34    3.051,
35    0.953,
36    -1.154,
37    -3.242,
38    3.05,
39    0.958,
40    -1.126,
41    -3.198,
42    3.053,
43    0.981,
44    -1.104,
45    -3.177,
46    3.082,
47    1.001,
48    -1.079,
49    #[allow(clippy::approx_constant)]
50    -3.141,
51    3.101,
52    1.025,
53    -1.048,
54    -3.124,
55    3.115,
56    1.041,
57    -1.028,
58    -3.1,
59    3.135,
60    1.066,
61    -1.0,
62    -3.077,
63    3.177,
64    1.093,
65    -0.981,
66    -3.06,
67    3.213,
68    1.117,
69    -0.963,
70    -3.048,
71    3.249,
72    1.158,
73    -0.948,
74    -3.047,
75    3.297,
76    1.2,
77    -0.913,
78    -3.023,
79    3.345,
80    1.231,
81    -0.881,
82    -3.022,
83    3.425,
84    1.267,
85    -0.872,
86    -3.024,
87];
lidar_utils/ouster/consts.rs

lidar_utils/ouster/
consts.rs
