Point Cloud Library (PCL) 1.13.0
vlp_grabber.h
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38
39#pragma once
40
41#include "pcl/pcl_config.h"
42
43#include <pcl/io/hdl_grabber.h>
44#include <pcl/io/grabber.h>
45#include <pcl/point_types.h>
46#include <boost/asio.hpp>
47#include <string>
48
49namespace pcl
50{
51
52 /** \brief Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
53 * \author Keven Ring <keven@mitre.org>
54 * \ingroup io
55 */
57 {
58 public:
59 /** \brief 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]
60 * \param[in] pcapFile Path to a file which contains previously captured data packets. This parameter is optional
61 */
62 VLPGrabber (const std::string& pcapFile = "");
63
64 /** \brief Constructor taking a specified IP/port
65 * \param[in] ipAddress IP Address that should be used to listen for VLP packets
66 * \param[in] port UDP Port that should be used to listen for VLP packets
67 */
68 VLPGrabber (const boost::asio::ip::address& ipAddress,
69 const std::uint16_t port);
70
71 /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
72
73 ~VLPGrabber () noexcept override;
74
75 /** \brief Obtains the name of this I/O Grabber
76 * \return The name of the grabber
77 */
78 std::string
79 getName () const override;
80
81 /** \brief Allows one to customize the colors used by each laser.
82 * \param[in] color RGB color to set
83 * \param[in] laserNumber Number of laser to set color
84 */
85 void
86 setLaserColorRGB (const pcl::RGB& color,
87 const std::uint8_t laserNumber);
88
89 /** \brief Allows one to customize the colors used for each of the lasers.
90 * \param[in] begin begin iterator of RGB color array
91 * \param[in] end end iterator of RGB color array
92 */
93 template<typename IterT> void
94 setLaserColorRGB (const IterT& begin, const IterT& end)
95 {
96 std::copy (begin, end, laser_rgb_mapping_);
97 }
98
99 /** \brief Returns the maximum number of lasers
100 */
101 std::uint8_t
102 getMaximumNumberOfLasers () const override;
103
104 protected:
105 static const std::uint8_t VLP_MAX_NUM_LASERS = 16;
106 static const std::uint8_t VLP_DUAL_MODE = 0x39;
107
108 private:
109 pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
110
111 void
112 toPointClouds (HDLDataPacket *dataPacket) override;
113
114 boost::asio::ip::address
115 getDefaultNetworkAddress () override;
116
117 void
118 initializeLaserMapping ();
119
120 void
121 loadVLP16Corrections ();
122
123 };
124}
Grabber for the Velodyne High-Definition-Laser (HDL)
Definition: hdl_grabber.h:62
Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
Definition: vlp_grabber.h:57
VLPGrabber(const boost::asio::ip::address &ipAddress, const std::uint16_t port)
Constructor taking a specified IP/port.
~VLPGrabber() noexcept override
virtual Destructor inherited from the Grabber interface.
std::uint8_t getMaximumNumberOfLasers() const override
Returns the maximum number of lasers.
VLPGrabber(const std::string &pcapFile="")
Constructor taking an optional path to an vlp corrections file.
Defines all the PCL implemented PointT point type structures.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A structure representing RGB color information.