Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL) More...

#include <pcl/io/vlp_grabber.h>

Inheritance diagram for pcl::VLPGrabber:

Collaboration diagram for pcl::VLPGrabber:

Public Member Functions
	VLPGrabber (const std::string &pcapFile="")
	Constructor taking an optional path to an vlp corrections file. More...

	VLPGrabber (const boost::asio::ip::address &ipAddress, const std::uint16_t port)
	Constructor taking a specified IP/port. More...

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

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

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

Public Member Functions inherited from pcl::HDLGrabber
	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...

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...

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...

Static Protected Attributes
static const std::uint8_t	VLP_MAX_NUM_LASERS = 16

static const std::uint8_t	VLP_DUAL_MODE = 0x39

Static Protected Attributes inherited from pcl::HDLGrabber
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

Additional Inherited Members
Public Types inherited from pcl::HDLGrabber
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...

Protected Types inherited from pcl::HDLGrabber
enum	HDLBlock { BLOCK_0_TO_31 = 0xeeff , BLOCK_32_TO_63 = 0xddff }

Protected Member Functions inherited from pcl::HDLGrabber
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 inherited from pcl::HDLGrabber
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_

Detailed Description

Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)

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

Definition at line 56 of file vlp_grabber.h.

Constructor & Destructor Documentation

◆ VLPGrabber() [1/2]

pcl::VLPGrabber::VLPGrabber ( const std::string & pcapFile = "" )

Constructor taking an optional path to an vlp corrections file.

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

Parameters

[in] pcapFile Path to a file which contains previously captured data packets. This parameter is optional

◆ VLPGrabber() [2/2]

pcl::VLPGrabber::VLPGrabber	(	const boost::asio::ip::address &	ipAddress,
		const std::uint16_t	port
	)

Constructor taking a specified IP/port.

Parameters

[in]	ipAddress	IP Address that should be used to listen for VLP packets
[in]	port	UDP Port that should be used to listen for VLP packets

◆ ~VLPGrabber()

pcl::VLPGrabber::~VLPGrabber ( )

overridenoexcept

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ getMaximumNumberOfLasers()

std::uint8_t pcl::VLPGrabber::getMaximumNumberOfLasers ( ) const

overridevirtual

Returns the maximum number of lasers.

Reimplemented from pcl::HDLGrabber.

◆ getName()

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

overridevirtual

Obtains the name of this I/O Grabber.

Returns: The name of the grabber

Reimplemented from pcl::HDLGrabber.

◆ setLaserColorRGB() [1/2]

template<typename IterT >

void pcl::VLPGrabber::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 94 of file vlp_grabber.h.

◆ setLaserColorRGB() [2/2]

void pcl::VLPGrabber::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

Member Data Documentation

◆ VLP_DUAL_MODE

const std::uint8_t pcl::VLPGrabber::VLP_DUAL_MODE = 0x39

staticprotected

Definition at line 106 of file vlp_grabber.h.

◆ VLP_MAX_NUM_LASERS

const std::uint8_t pcl::VLPGrabber::VLP_MAX_NUM_LASERS = 16

staticprotected

Definition at line 105 of file vlp_grabber.h.

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

pcl/io/vlp_grabber.h

Public Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VLPGrabber() [1/2]

◆ VLPGrabber() [2/2]

◆ ~VLPGrabber()

Member Function Documentation

◆ getMaximumNumberOfLasers()

◆ getName()

◆ setLaserColorRGB() [1/2]

◆ setLaserColorRGB() [2/2]

Member Data Documentation

◆ VLP_DUAL_MODE

◆ VLP_MAX_NUM_LASERS