Grabber for the Velodyne High-Definition-Laser (HDL) More...

#include <pcl/io/hdl_grabber.h>

Inheritance diagram for pcl::HDLGrabber:

Collaboration diagram for pcl::HDLGrabber:

Classes
struct	HDLDataPacket

struct	HDLFiringData

struct	HDLLaserCorrection

struct	HDLLaserReturn

Public Types
using	sig_cb_velodyne_hdl_scan_point_cloud_xyz = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &, float, float)
	Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne. More...

using	sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &, float, float)
	Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne. More...

using	sig_cb_velodyne_hdl_scan_point_cloud_xyzi = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &, float, float)
	Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne with the returned intensity. More...

using	sig_cb_velodyne_hdl_sweep_point_cloud_xyz = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)
	Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This signal is sent when the Velodyne passes angle "0". More...

using	sig_cb_velodyne_hdl_sweep_point_cloud_xyzi = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &)
	Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne with the returned intensity This signal is sent when the Velodyne passes angle "0". More...

using	sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)
	Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This signal is sent when the Velodyne passes angle "0". More...

Public Member Functions
	HDLGrabber (const std::string &correctionsFile="", const std::string &pcapFile="")
	Constructor taking an optional path to an HDL corrections file. More...

	HDLGrabber (const boost::asio::ip::address &ipAddress, const std::uint16_t port, const std::string &correctionsFile="")
	Constructor taking a specified IP/port and an optional path to an HDL corrections file. More...

	~HDLGrabber () noexcept override
	virtual Destructor inherited from the Grabber interface. More...

void	start () override
	Starts processing the Velodyne packets, either from the network or PCAP file. More...

void	stop () override
	Stops processing the Velodyne packets, either from the network or PCAP file. More...

std::string	getName () const override
	Obtains the name of this I/O Grabber. More...

bool	isRunning () const override
	Check if the grabber is still running. More...

float	getFramesPerSecond () const override
	Returns the number of frames per second. More...

void	filterPackets (const boost::asio::ip::address &ipAddress, const std::uint16_t port=443)
	Allows one to filter packets based on the SOURCE IP address and PORT This can be used, for instance, if multiple HDL LIDARs are on the same network. More...

void	setLaserColorRGB (const pcl::RGB &color, const std::uint8_t laserNumber)
	Allows one to customize the colors used by each laser. More...

template<typename IterT >
void	setLaserColorRGB (const IterT &begin, const IterT &end)
	Allows one to customize the colors used for each of the lasers. More...

void	setMinimumDistanceThreshold (float &minThreshold)
	Any returns from the HDL with a distance less than this are discarded. More...

void	setMaximumDistanceThreshold (float &maxThreshold)
	Any returns from the HDL with a distance greater than this are discarded. More...

float	getMinimumDistanceThreshold ()
	Returns the current minimum distance threshold, in meters. More...

float	getMaximumDistanceThreshold ()
	Returns the current maximum distance threshold, in meters. More...

virtual std::uint8_t	getMaximumNumberOfLasers () const
	Returns the maximum number of lasers. More...

Public Member Functions inherited from pcl::Grabber
	Grabber ()=default
	Default ctor. More...

	Grabber (const Grabber &)=delete
	No copy ctor since Grabber can't be copied. More...

Grabber &	operator= (const Grabber &)=delete
	No copy assign operator since Grabber can't be copied. More...

	Grabber (Grabber &&)=default
	Move ctor. More...

Grabber &	operator= (Grabber &&)=default
	Move assign operator. More...

virtual	~Grabber () noexcept=default
	virtual destructor. More...

template<typename T >
boost::signals2::connection	registerCallback (const std::function< T > &callback)
	registers a callback function/method to a signal with the corresponding signature More...

template<typename T >
bool	providesCallback () const noexcept
	indicates whether a signal with given parameter-type exists or not More...

bool	toggle ()
	For devices that are streaming, stopped streams are started and running stream are stopped. More...

Protected Types
enum	HDLBlock { BLOCK_0_TO_31 = 0xeeff , BLOCK_32_TO_63 = 0xddff }

Protected Member Functions
void	fireCurrentSweep ()

void	fireCurrentScan (const std::uint16_t startAngle, const std::uint16_t endAngle)

void	computeXYZI (pcl::PointXYZI &pointXYZI, std::uint16_t azimuth, HDLLaserReturn laserReturn, HDLLaserCorrection correction) const

Protected Member Functions inherited from pcl::Grabber
virtual void	signalsChanged ()

template<typename T >
boost::signals2::signal< T > *	find_signal () const noexcept

template<typename T >
int	num_slots () const noexcept

template<typename T >
void	disconnect_all_slots ()

template<typename T >
void	block_signal ()

template<typename T >
void	unblock_signal ()

void	block_signals ()

void	unblock_signals ()

template<typename T >
boost::signals2::signal< T > *	createSignal ()

Protected Attributes
HDLLaserCorrection	laser_corrections_ [HDL_MAX_NUM_LASERS]

std::uint16_t	last_azimuth_

pcl::PointCloud< pcl::PointXYZ >::Ptr	current_scan_xyz_

pcl::PointCloud< pcl::PointXYZ >::Ptr	current_sweep_xyz_

pcl::PointCloud< pcl::PointXYZI >::Ptr	current_scan_xyzi_

pcl::PointCloud< pcl::PointXYZI >::Ptr	current_sweep_xyzi_

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	current_scan_xyzrgba_

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	current_sweep_xyzrgba_

boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyz > *	sweep_xyz_signal_

boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba > *	sweep_xyzrgba_signal_

boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > *	sweep_xyzi_signal_

boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyz > *	scan_xyz_signal_

boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba > *	scan_xyzrgba_signal_

boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzi > *	scan_xyzi_signal_

Protected Attributes inherited from pcl::Grabber
std::map< std::string, std::unique_ptr< boost::signals2::signal_base > >	signals_

std::map< std::string, std::vector< boost::signals2::connection > >	connections_

std::map< std::string, std::vector< boost::signals2::shared_connection_block > >	shared_connections_

Static Protected Attributes
static const std::uint16_t	HDL_DATA_PORT = 2368

static const std::uint16_t	HDL_NUM_ROT_ANGLES = 36001

static const std::uint8_t	HDL_LASER_PER_FIRING = 32

static const std::uint8_t	HDL_MAX_NUM_LASERS = 64

static const std::uint8_t	HDL_FIRING_PER_PKT = 12

Detailed Description

Grabber for the Velodyne High-Definition-Laser (HDL)

Author: Keven Ring keven.nosp@m.@mit.nosp@m.re.or.nosp@m.g

Definition at line 61 of file hdl_grabber.h.

Member Typedef Documentation

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyz

using pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyz = void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &, float, float)

Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne.

Definition at line 67 of file hdl_grabber.h.

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyzi

using pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzi = void (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &, float, float)

Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne with the returned intensity.

Definition at line 77 of file hdl_grabber.h.

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba

using pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba = void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &, float, float)

Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne.

Each laser has a different RGB

Definition at line 72 of file hdl_grabber.h.

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyz

using pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyz = void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &)

Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This signal is sent when the Velodyne passes angle "0".

Definition at line 83 of file hdl_grabber.h.

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyzi

using pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzi = void (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &)

Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne with the returned intensity This signal is sent when the Velodyne passes angle "0".

Definition at line 89 of file hdl_grabber.h.

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba

using pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba = void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &)

Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This signal is sent when the Velodyne passes angle "0".

Each laser has a different RGB

Definition at line 95 of file hdl_grabber.h.

Member Enumeration Documentation

◆ HDLBlock

enum pcl::HDLGrabber::HDLBlock

protected

Enumerator
BLOCK_0_TO_31
BLOCK_32_TO_63

Definition at line 204 of file hdl_grabber.h.

Constructor & Destructor Documentation

◆ HDLGrabber() [1/2]

pcl::HDLGrabber::HDLGrabber	(	const std::string &	correctionsFile = `""`,
		const std::string &	pcapFile = `""`
	)

Constructor taking an optional path to an HDL corrections file.

The Grabber will listen on the default IP/port for data packets [192.168.3.255/2368]

Parameters

[in]	correctionsFile	Path to a file which contains the correction parameters for the HDL. This parameter is mandatory for the HDL-64, optional for the HDL-32
[in]	pcapFile	Path to a file which contains previously captured data packets. This parameter is optional

◆ HDLGrabber() [2/2]

pcl::HDLGrabber::HDLGrabber	(	const boost::asio::ip::address &	ipAddress,
		const std::uint16_t	port,
		const std::string &	correctionsFile = `""`
	)

Constructor taking a specified IP/port and an optional path to an HDL corrections file.

Parameters

[in]	ipAddress	IP Address that should be used to listen for HDL packets
[in]	port	UDP Port that should be used to listen for HDL packets
[in]	correctionsFile	Path to a file which contains the correction parameters for the HDL. This field is mandatory for the HDL-64, optional for the HDL-32

◆ ~HDLGrabber()

pcl::HDLGrabber::~HDLGrabber ( )

overridenoexcept

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ computeXYZI()

void pcl::HDLGrabber::computeXYZI	(	pcl::PointXYZI &	pointXYZI,
		std::uint16_t	azimuth,
		HDLLaserReturn	laserReturn,
		HDLLaserCorrection	correction
	)		const

protected

◆ filterPackets()

void pcl::HDLGrabber::filterPackets	(	const boost::asio::ip::address &	ipAddress,
		const std::uint16_t	port = `443`
	)

Allows one to filter packets based on the SOURCE IP address and PORT This can be used, for instance, if multiple HDL LIDARs are on the same network.

◆ fireCurrentScan()

void pcl::HDLGrabber::fireCurrentScan	(	const std::uint16_t	startAngle,
		const std::uint16_t	endAngle
	)

protected

◆ fireCurrentSweep()

void pcl::HDLGrabber::fireCurrentSweep ( )

protected

◆ getFramesPerSecond()

float pcl::HDLGrabber::getFramesPerSecond ( ) const

overridevirtual

Returns the number of frames per second.

Implements pcl::Grabber.

◆ getMaximumDistanceThreshold()

float pcl::HDLGrabber::getMaximumDistanceThreshold ( )

Returns the current maximum distance threshold, in meters.

◆ getMaximumNumberOfLasers()

virtual std::uint8_t pcl::HDLGrabber::getMaximumNumberOfLasers ( ) const

virtual

Returns the maximum number of lasers.

Reimplemented in pcl::VLPGrabber.

◆ getMinimumDistanceThreshold()

float pcl::HDLGrabber::getMinimumDistanceThreshold ( )

Returns the current minimum distance threshold, in meters.

◆ getName()

std::string pcl::HDLGrabber::getName ( ) const

overridevirtual

Obtains the name of this I/O Grabber.

Returns: The name of the grabber

Implements pcl::Grabber.

Reimplemented in pcl::VLPGrabber.

◆ isRunning()

bool pcl::HDLGrabber::isRunning ( ) const

overridevirtual

Check if the grabber is still running.

Returns: TRUE if the grabber is running, FALSE otherwise

Implements pcl::Grabber.

◆ setLaserColorRGB() [1/2]

template<typename IterT >

void pcl::HDLGrabber::setLaserColorRGB	(	const IterT &	begin,
		const IterT &	end
	)

inline

Allows one to customize the colors used for each of the lasers.

Parameters

[in]	begin	begin iterator of RGB color array
[in]	end	end iterator of RGB color array

Definition at line 162 of file hdl_grabber.h.

◆ setLaserColorRGB() [2/2]

void pcl::HDLGrabber::setLaserColorRGB	(	const pcl::RGB &	color,
		const std::uint8_t	laserNumber
	)

Allows one to customize the colors used by each laser.

Parameters

[in]	color	RGB color to set
[in]	laserNumber	Number of laser to set color

◆ setMaximumDistanceThreshold()

void pcl::HDLGrabber::setMaximumDistanceThreshold ( float & maxThreshold )

Any returns from the HDL with a distance greater than this are discarded.

This value is in meters Default: 10000.0

◆ setMinimumDistanceThreshold()

void pcl::HDLGrabber::setMinimumDistanceThreshold ( float & minThreshold )

Any returns from the HDL with a distance less than this are discarded.

This value is in meters Default: 0.0

◆ start()

void pcl::HDLGrabber::start ( )

overridevirtual

Starts processing the Velodyne packets, either from the network or PCAP file.

Implements pcl::Grabber.

◆ stop()

void pcl::HDLGrabber::stop ( )

overridevirtual

boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzi>* pcl::HDLGrabber::sweep_xyzi_signal_

protected

Definition at line 252 of file hdl_grabber.h.

◆ sweep_xyzrgba_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba>* pcl::HDLGrabber::sweep_xyzrgba_signal_

protected

Definition at line 251 of file hdl_grabber.h.

The documentation for this class was generated from the following file:

pcl/io/hdl_grabber.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyz

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyzi

◆ sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyz

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyzi

◆ sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba

Member Enumeration Documentation

◆ HDLBlock

Constructor & Destructor Documentation

◆ HDLGrabber() [1/2]

◆ HDLGrabber() [2/2]

◆ ~HDLGrabber()

Member Function Documentation

◆ computeXYZI()

◆ filterPackets()

◆ fireCurrentScan()

◆ fireCurrentSweep()

◆ getFramesPerSecond()

◆ getMaximumDistanceThreshold()

◆ getMaximumNumberOfLasers()

◆ getMinimumDistanceThreshold()

◆ getName()

◆ isRunning()

◆ setLaserColorRGB() [1/2]

◆ setLaserColorRGB() [2/2]

◆ setMaximumDistanceThreshold()

◆ setMinimumDistanceThreshold()

◆ start()

◆ stop()

Member Data Documentation

◆ current_scan_xyz_

◆ current_scan_xyzi_

◆ current_scan_xyzrgba_

◆ current_sweep_xyz_

◆ current_sweep_xyzi_

◆ current_sweep_xyzrgba_

◆ HDL_DATA_PORT

◆ HDL_FIRING_PER_PKT

◆ HDL_LASER_PER_FIRING

◆ HDL_MAX_NUM_LASERS

◆ HDL_NUM_ROT_ANGLES

◆ laser_corrections_

◆ last_azimuth_

◆ scan_xyz_signal_

◆ scan_xyzi_signal_

◆ scan_xyzrgba_signal_

◆ sweep_xyz_signal_

◆ sweep_xyzi_signal_

◆ sweep_xyzrgba_signal_