Point Cloud Library (PCL)
1.7.1
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Grabber for the Velodyne High-Definition-Laser (HDL) More...
#include <pcl/io/hdl_grabber.h>
Classes | |
struct | HDLDataPacket |
struct | HDLFiringData |
struct | HDLLaserCorrection |
struct | HDLLaserReturn |
Public Types | |
typedef void( | sig_cb_velodyne_hdl_scan_point_cloud_xyz )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &, float, float) |
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne. More... | |
typedef void( | sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &, float, float) |
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne. More... | |
typedef void( | sig_cb_velodyne_hdl_scan_point_cloud_xyzi )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &, float startAngle, float) |
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne with the returned intensity. More... | |
typedef void( | sig_cb_velodyne_hdl_sweep_point_cloud_xyz )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &) |
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... | |
typedef void( | sig_cb_velodyne_hdl_sweep_point_cloud_xyzi )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &) |
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... | |
typedef void( | sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &) |
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 unsigned short port, const std::string &correctionsFile="") | |
Constructor taking a pecified IP/port and an optional path to an HDL corrections file. More... | |
virtual | ~HDLGrabber () throw () |
virtual Destructor inherited from the Grabber interface. More... | |
virtual void | start () |
Starts processing the Velodyne packets, either from the network or PCAP file. More... | |
virtual void | stop () |
Stops processing the Velodyne packets, either from the network or PCAP file. More... | |
virtual std::string | getName () const |
Obtains the name of this I/O Grabber. More... | |
virtual bool | isRunning () const |
Check if the grabber is still running. More... | |
virtual float | getFramesPerSecond () const |
Returns the number of frames per second. More... | |
void | filterPackets (const boost::asio::ip::address &ipAddress, const unsigned short 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, unsigned int laserNumber) |
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... | |
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Grabber () | |
Constructor. More... | |
virtual | ~Grabber () throw () |
virtual desctructor. More... | |
template<typename T > | |
boost::signals2::connection | registerCallback (const boost::function< T > &callback) |
registers a callback function/method to a signal with the corresponding signature More... | |
template<typename T > | |
bool | providesCallback () const |
indicates whether a signal with given parameter-type exists or not More... | |
Protected Types | |
enum | HDLBlock { BLOCK_0_TO_31 = 0xeeff, BLOCK_32_TO_63 = 0xddff } |
typedef struct pcl::HDLGrabber::HDLLaserReturn | HDLLaserReturn |
Static Protected Attributes | |
static const int | HDL_DATA_PORT = 2368 |
static const int | HDL_NUM_ROT_ANGLES = 36001 |
static const int | HDL_LASER_PER_FIRING = 32 |
static const int | HDL_MAX_NUM_LASERS = 64 |
static const int | HDL_FIRING_PER_PKT = 12 |
static const boost::asio::ip::address | HDL_DEFAULT_NETWORK_ADDRESS |
Additional Inherited Members | |
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virtual void | signalsChanged () |
template<typename T > | |
boost::signals2::signal< T > * | find_signal () const |
template<typename T > | |
int | num_slots () const |
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 () |
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std::map< std::string, 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_ |
Grabber for the Velodyne High-Definition-Laser (HDL)
Definition at line 59 of file hdl_grabber.h.
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typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyz)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &, float, float) |
Signal used for a single sector Represents 1 corrected packet from the HDL Velodyne.
Definition at line 65 of file hdl_grabber.h.
typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzi)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &, float startAngle, 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.
typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &, 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 71 of file hdl_grabber.h.
typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyz)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &) |
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 84 of file hdl_grabber.h.
typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzi)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &) |
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 90 of file hdl_grabber.h.
typedef void( pcl::HDLGrabber::sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &) |
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 96 of file hdl_grabber.h.
pcl::HDLGrabber::HDLGrabber | ( | const std::string & | correctionsFile = "" , |
const std::string & | pcapFile = "" |
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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]
[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 |
pcl::HDLGrabber::HDLGrabber | ( | const boost::asio::ip::address & | ipAddress, |
const unsigned short | port, | ||
const std::string & | correctionsFile = "" |
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Constructor taking a pecified IP/port and an optional path to an HDL corrections file.
[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 |
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virtual Destructor inherited from the Grabber interface.
It never throws.
void pcl::HDLGrabber::filterPackets | ( | const boost::asio::ip::address & | ipAddress, |
const unsigned short | port = 443 |
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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.
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Returns the number of frames per second.
Implements pcl::Grabber.
float pcl::HDLGrabber::getMaximumDistanceThreshold | ( | ) |
Returns the current maximum distance threshold, in meters.
float pcl::HDLGrabber::getMinimumDistanceThreshold | ( | ) |
Returns the current minimum distance threshold, in meters.
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Check if the grabber is still running.
Implements pcl::Grabber.
void pcl::HDLGrabber::setLaserColorRGB | ( | const pcl::RGB & | color, |
unsigned int | laserNumber | ||
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Allows one to customize the colors used for each of the lasers.
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
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
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Starts processing the Velodyne packets, either from the network or PCAP file.
Implements pcl::Grabber.
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Stops processing the Velodyne packets, either from the network or PCAP file.
Implements pcl::Grabber.
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staticprotected |
Definition at line 169 of file hdl_grabber.h.
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staticprotected |
Definition at line 174 of file hdl_grabber.h.
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staticprotected |
Definition at line 173 of file hdl_grabber.h.
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staticprotected |
Definition at line 171 of file hdl_grabber.h.
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staticprotected |
Definition at line 172 of file hdl_grabber.h.
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staticprotected |
Definition at line 170 of file hdl_grabber.h.