Lidar Velodyne: added pointcloud folder and util.h/cc

Author: lianglia-apollo

modules/drivers/lidar_velodyne/pointcloud/lib/BUILD

@@ -0,0 +1,19 @@
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "util",
+    srcs = [
+        "util.cc",
+    ],
+    hdrs = [
+        "util.h",
+    ],
+    deps = [
+        "//modules/common",
+        "@ros//:ros_common",
+    ],
+)
+
+cpplint()

modules/drivers/lidar_velodyne/pointcloud/lib/util.cc

@@ -0,0 +1,34 @@
+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "modules/drivers/lidar_velodyne/pointcloud/lib/util.h"
+
+namespace apollo {
+namespace drivers {
+namespace lidar_velodyne {
+
+void init_sin_cos_rot_table(float* sin_rot_table, float* cos_rot_table,
+                            uint16_t rotation, float rotation_resolution) {
+  for (uint16_t i = 0; i < rotation; ++i) {
+    float rotation = angles::from_degrees(rotation_resolution * i);
+    cos_rot_table[i] = cosf(rotation);
+    sin_rot_table[i] = sinf(rotation);
+  }
+}
+
+}  // namespace lidar_velodyne
+}  // namespace drivers
+}  // namespace apollo

modules/drivers/lidar_velodyne/pointcloud/lib/util.h

@@ -0,0 +1,65 @@
+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef MODULES_DRIVERS_LIDAR_VELODYNE_POINTCLOUD_LIB_UTIL_H_
+#define MODULES_DRIVERS_LIDAR_VELODYNE_POINTCLOUD_LIB_UTIL_H_
+
+#include <fstream>
+
+#include "angles/angles.h"
+#include "ros/ros.h"
+
+namespace apollo {
+namespace drivers {
+namespace lidar_velodyne {
+
+template <typename T>
+void dump_msg(const T& msg, const std::string& file_path) {
+  std::ofstream ofs(file_path.c_str(),
+                    std::ofstream::out | std::ofstream::binary);
+  uint32_t serial_size = ros::serialization::serializationLength(msg);
+  boost::shared_array<uint8_t> obuffer(new uint8_t[serial_size]);
+  ros::serialization::OStream ostream(obuffer.get(), serial_size);
+  ros::serialization::serialize(ostream, msg);
+  ofs.write((char*)obuffer.get(), serial_size);
+  ofs.close();
+}
+
+template <class T>
+void load_msg(const std::string& file_path, T* msg) {
+  std::ifstream ifs(file_path.c_str(),
+                    std::ifstream::in | std::ifstream::binary);
+  ifs.seekg(0, std::ios::end);
+  std::streampos end = ifs.tellg();
+  ifs.seekg(0, std::ios::beg);
+  std::streampos begin = ifs.tellg();
+
+  uint32_t file_size = end - begin;
+  boost::shared_array<uint8_t> ibuffer(new uint8_t[file_size]);
+  ifs.read((char*)ibuffer.get(), file_size);
+  ros::serialization::IStream istream(ibuffer.get(), file_size);
+  ros::serialization::deserialize(istream, *msg);
+  ifs.close();
+}
+
+void init_sin_cos_rot_table(float* sin_rot_table, float* cos_rot_table,
+                            uint16_t rotation, float rotation_resolution);
+
+}  // namespace lidar_velodyne
+}  // namespace drivers
+}  // namespace apollo
+
+#endif  // MODULES_DRIVERS_LIDAR_VELODYNE_POINTCLOUD_LIB_UTIL_H_