Point Cloud Library (PCL)  1.12.0-dev
hdl_grabber.h
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38 
39 #pragma once
40 
41 #include "pcl/pcl_config.h"
42 #include <pcl/pcl_macros.h>
43 
44 #include <pcl/io/grabber.h>
45 #include <pcl/io/impl/synchronized_queue.hpp>
46 #include <pcl/point_types.h>
47 #include <pcl/point_cloud.h>
48 #include <boost/asio.hpp>
49 #include <string>
50 #include <thread>
51 
52 #define HDL_Grabber_toRadians(x) ((x) * M_PI / 180.0)
53 
54 namespace pcl
55 {
56 
57  /** \brief Grabber for the Velodyne High-Definition-Laser (HDL)
58  * \author Keven Ring <keven@mitre.org>
59  * \ingroup io
60  */
62  {
63  public:
64  /** \brief Signal used for a single sector
65  * Represents 1 corrected packet from the HDL Velodyne
66  */
68 
69  /** \brief Signal used for a single sector
70  * Represents 1 corrected packet from the HDL Velodyne. Each laser has a different RGB
71  */
73 
74  /** \brief Signal used for a single sector
75  * Represents 1 corrected packet from the HDL Velodyne with the returned intensity.
76  */
78 
79  /** \brief Signal used for a 360 degree sweep
80  * Represents multiple corrected packets from the HDL Velodyne
81  * This signal is sent when the Velodyne passes angle "0"
82  */
84 
85  /** \brief Signal used for a 360 degree sweep
86  * Represents multiple corrected packets from the HDL Velodyne with the returned intensity
87  * This signal is sent when the Velodyne passes angle "0"
88  */
90 
91  /** \brief Signal used for a 360 degree sweep
92  * Represents multiple corrected packets from the HDL Velodyne
93  * This signal is sent when the Velodyne passes angle "0". Each laser has a different RGB
94  */
96 
97  /** \brief 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]
98  * \param[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
99  * \param[in] pcapFile Path to a file which contains previously captured data packets. This parameter is optional
100  */
101  HDLGrabber (const std::string& correctionsFile = "",
102  const std::string& pcapFile = "");
103 
104  /** \brief Constructor taking a specified IP/port and an optional path to an HDL corrections file.
105  * \param[in] ipAddress IP Address that should be used to listen for HDL packets
106  * \param[in] port UDP Port that should be used to listen for HDL packets
107  * \param[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
108  */
109  HDLGrabber (const boost::asio::ip::address& ipAddress,
110  const std::uint16_t port,
111  const std::string& correctionsFile = "");
112 
113  /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
114 
115  ~HDLGrabber () noexcept;
116 
117  /** \brief Starts processing the Velodyne packets, either from the network or PCAP file. */
118  void
119  start () override;
120 
121  /** \brief Stops processing the Velodyne packets, either from the network or PCAP file */
122  void
123  stop () override;
124 
125  /** \brief Obtains the name of this I/O Grabber
126  * \return The name of the grabber
127  */
128  std::string
129  getName () const override;
130 
131  /** \brief Check if the grabber is still running.
132  * \return TRUE if the grabber is running, FALSE otherwise
133  */
134  bool
135  isRunning () const override;
136 
137  /** \brief Returns the number of frames per second.
138  */
139  float
140  getFramesPerSecond () const override;
141 
142  /** \brief Allows one to filter packets based on the SOURCE IP address and PORT
143  * This can be used, for instance, if multiple HDL LIDARs are on the same network
144  */
145  void
146  filterPackets (const boost::asio::ip::address& ipAddress,
147  const std::uint16_t port = 443);
148 
149  /** \brief Allows one to customize the colors used by each laser.
150  * \param[in] color RGB color to set
151  * \param[in] laserNumber Number of laser to set color
152  */
153  void
154  setLaserColorRGB (const pcl::RGB& color,
155  const std::uint8_t laserNumber);
156 
157  /** \brief Allows one to customize the colors used for each of the lasers.
158  * \param[in] begin begin iterator of RGB color array
159  * \param[in] end end iterator of RGB color array
160  */
161  template<typename IterT> void
162  setLaserColorRGB (const IterT& begin, const IterT& end)
163  {
164  std::copy (begin, end, laser_rgb_mapping_);
165  }
166 
167  /** \brief Any returns from the HDL with a distance less than this are discarded.
168  * This value is in meters
169  * Default: 0.0
170  */
171  void
172  setMinimumDistanceThreshold (float & minThreshold);
173 
174  /** \brief Any returns from the HDL with a distance greater than this are discarded.
175  * This value is in meters
176  * Default: 10000.0
177  */
178  void
179  setMaximumDistanceThreshold (float & maxThreshold);
180 
181  /** \brief Returns the current minimum distance threshold, in meters
182  */
183 
184  float
185  getMinimumDistanceThreshold ();
186 
187  /** \brief Returns the current maximum distance threshold, in meters
188  */
189  float
190  getMaximumDistanceThreshold ();
191 
192  /** \brief Returns the maximum number of lasers
193  */
194  virtual std::uint8_t
195  getMaximumNumberOfLasers () const;
196 
197  protected:
198  static const std::uint16_t HDL_DATA_PORT = 2368;
199  static const std::uint16_t HDL_NUM_ROT_ANGLES = 36001;
200  static const std::uint8_t HDL_LASER_PER_FIRING = 32;
201  static const std::uint8_t HDL_MAX_NUM_LASERS = 64;
202  static const std::uint8_t HDL_FIRING_PER_PKT = 12;
203 
204  enum HDLBlock
205  {
206  BLOCK_0_TO_31 = 0xeeff, BLOCK_32_TO_63 = 0xddff
207  };
208 
209 #pragma pack(push, 1)
211  {
212  std::uint16_t distance;
213  std::uint8_t intensity;
214  };
215 #pragma pack(pop)
216 
218  {
219  std::uint16_t blockIdentifier;
220  std::uint16_t rotationalPosition;
221  HDLLaserReturn laserReturns[HDL_LASER_PER_FIRING];
222  };
223 
225  {
226  HDLFiringData firingData[HDL_FIRING_PER_PKT];
227  std::uint32_t gpsTimestamp;
228  std::uint8_t mode;
229  std::uint8_t sensorType;
230  };
231 
233  {
243  };
244 
245  HDLLaserCorrection laser_corrections_[HDL_MAX_NUM_LASERS];
246  std::uint16_t last_azimuth_;
250  boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyz>* sweep_xyz_signal_;
251  boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba>* sweep_xyzrgba_signal_;
252  boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzi>* sweep_xyzi_signal_;
253  boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyz>* scan_xyz_signal_;
254  boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba>* scan_xyzrgba_signal_;
255  boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyzi>* scan_xyzi_signal_;
256 
257  void
258  fireCurrentSweep ();
259 
260  void
261  fireCurrentScan (const std::uint16_t startAngle,
262  const std::uint16_t endAngle);
263  void
264  computeXYZI (pcl::PointXYZI& pointXYZI,
265  std::uint16_t azimuth,
266  HDLLaserReturn laserReturn,
267  HDLLaserCorrection correction) const;
268 
269 
270  private:
271  static double *cos_lookup_table_;
272  static double *sin_lookup_table_;
274  boost::asio::ip::udp::endpoint udp_listener_endpoint_;
275  boost::asio::ip::address source_address_filter_;
276  std::uint16_t source_port_filter_;
277  boost::asio::io_service hdl_read_socket_service_;
278  boost::asio::ip::udp::socket *hdl_read_socket_;
279  std::string pcap_file_name_;
280  std::thread *queue_consumer_thread_;
281  std::thread *hdl_read_packet_thread_;
282  bool terminate_read_packet_thread_;
283  pcl::RGB laser_rgb_mapping_[HDL_MAX_NUM_LASERS];
284  float min_distance_threshold_;
285  float max_distance_threshold_;
286 
287  virtual void
288  toPointClouds (HDLDataPacket *dataPacket);
289 
290  virtual boost::asio::ip::address
291  getDefaultNetworkAddress ();
292 
293  void
294  initialize (const std::string& correctionsFile = "");
295 
296  void
297  processVelodynePackets ();
298 
299  void
300  enqueueHDLPacket (const std::uint8_t *data,
301  std::size_t bytesReceived);
302 
303  void
304  loadCorrectionsFile (const std::string& correctionsFile);
305 
306  void
307  loadHDL32Corrections ();
308 
309  void
310  readPacketsFromSocket ();
311 
312 #ifdef HAVE_PCAP
313  void
314  readPacketsFromPcap();
315 
316 #endif //#ifdef HAVE_PCAP
317 
318  bool
319  isAddressUnspecified (const boost::asio::ip::address& ip_address);
320 
321  };
322 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
point_types.h
pcl::HDLGrabber::HDLFiringData::rotationalPosition
std::uint16_t rotationalPosition
Definition: hdl_grabber.h:220
pcl::HDLGrabber::current_sweep_xyz_
pcl::PointCloud< pcl::PointXYZ >::Ptr current_sweep_xyz_
Definition: hdl_grabber.h:247
pcl::HDLGrabber::HDLLaserCorrection::distanceCorrection
double distanceCorrection
Definition: hdl_grabber.h:236
pcl::HDLGrabber::HDLFiringData
Definition: hdl_grabber.h:217
pcl::HDLGrabber::HDLLaserReturn
Definition: hdl_grabber.h:210
pcl::HDLGrabber::HDLDataPacket::gpsTimestamp
std::uint32_t gpsTimestamp
Definition: hdl_grabber.h:227
pcl::HDLGrabber::current_sweep_xyzi_
pcl::PointCloud< pcl::PointXYZI >::Ptr current_sweep_xyzi_
Definition: hdl_grabber.h:248
pcl::HDLGrabber::HDLFiringData::blockIdentifier
std::uint16_t blockIdentifier
Definition: hdl_grabber.h:219
pcl::PointXYZI
Definition: point_types.hpp:510
pcl::HDLGrabber::HDLLaserCorrection::verticalCorrection
double verticalCorrection
Definition: hdl_grabber.h:235
pcl::HDLGrabber::sweep_xyz_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyz > * sweep_xyz_signal_
Definition: hdl_grabber.h:250
boost
Definition: boost_graph.h:48
pcl::HDLGrabber::HDLLaserCorrection
Definition: hdl_grabber.h:232
pcl::HDLGrabber::scan_xyzi_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzi > * scan_xyzi_signal_
Definition: hdl_grabber.h:255
pcl::HDLGrabber
Grabber for the Velodyne High-Definition-Laser (HDL)
Definition: hdl_grabber.h:61
pcl::HDLGrabber::current_sweep_xyzrgba_
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr current_sweep_xyzrgba_
Definition: hdl_grabber.h:249
pcl::Grabber
Grabber interface for PCL 1.x device drivers.
Definition: grabber.h:59
pcl::HDLGrabber::sweep_xyzrgba_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba > * sweep_xyzrgba_signal_
Definition: hdl_grabber.h:251
pcl::HDLGrabber::HDLLaserCorrection::sinVertCorrection
double sinVertCorrection
Definition: hdl_grabber.h:239
pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &, float, float) sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne.
Definition: hdl_grabber.h:72
pcl::HDLGrabber::scan_xyzrgba_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba > * scan_xyzrgba_signal_
Definition: hdl_grabber.h:254
pcl::HDLGrabber::last_azimuth_
std::uint16_t last_azimuth_
Definition: hdl_grabber.h:246
pcl::HDLGrabber::HDLDataPacket
Definition: hdl_grabber.h:224
pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzi
void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &) sig_cb_velodyne_hdl_sweep_point_cloud_xyzi
Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne with t...
Definition: hdl_grabber.h:89
pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba
void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba
Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This s...
Definition: hdl_grabber.h:95
pcl::HDLGrabber::HDLDataPacket::mode
std::uint8_t mode
Definition: hdl_grabber.h:228
pcl::RGB
A structure representing RGB color information.
Definition: point_types.hpp:391
pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzi
void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &, float, float) sig_cb_velodyne_hdl_scan_point_cloud_xyzi
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne with the returned...
Definition: hdl_grabber.h:77
pcl::HDLGrabber::HDLLaserCorrection::sinVertOffsetCorrection
double sinVertOffsetCorrection
Definition: hdl_grabber.h:241
pcl::HDLGrabber::HDLLaserCorrection::cosVertOffsetCorrection
double cosVertOffsetCorrection
Definition: hdl_grabber.h:242
pcl::HDLGrabber::HDLLaserCorrection::verticalOffsetCorrection
double verticalOffsetCorrection
Definition: hdl_grabber.h:237
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::HDLGrabber::HDLDataPacket::sensorType
std::uint8_t sensorType
Definition: hdl_grabber.h:229
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
pcl::HDLGrabber::HDLLaserCorrection::horizontalOffsetCorrection
double horizontalOffsetCorrection
Definition: hdl_grabber.h:238
pcl::HDLGrabber::HDLLaserReturn::distance
std::uint16_t distance
Definition: hdl_grabber.h:212
pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyz
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &, float, float) sig_cb_velodyne_hdl_scan_point_cloud_xyz
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne.
Definition: hdl_grabber.h:67
pcl::HDLGrabber::HDLLaserReturn::intensity
std::uint8_t intensity
Definition: hdl_grabber.h:213
pcl::HDLGrabber::HDLLaserCorrection::cosVertCorrection
double cosVertCorrection
Definition: hdl_grabber.h:240
pcl::SynchronizedQueue< std::uint8_t * >
pcl::HDLGrabber::sweep_xyzi_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > * sweep_xyzi_signal_
Definition: hdl_grabber.h:252
pcl::HDLGrabber::HDLLaserCorrection::azimuthCorrection
double azimuthCorrection
Definition: hdl_grabber.h:234
pcl::HDLGrabber::scan_xyz_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyz > * scan_xyz_signal_
Definition: hdl_grabber.h:253
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::HDLGrabber::HDLBlock
HDLBlock
Definition: hdl_grabber.h:204
pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyz
void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) sig_cb_velodyne_hdl_sweep_point_cloud_xyz
Signal used for a 360 degree sweep Represents multiple corrected packets from the HDL Velodyne This s...
Definition: hdl_grabber.h:83