41 #include "pcl/pcl_config.h"
42 #include <pcl/pcl_macros.h>
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>
52 #define HDL_Grabber_toRadians(x) ((x) * M_PI / 180.0)
101 HDLGrabber (
const std::string& correctionsFile =
"",
102 const std::string& pcapFile =
"");
109 HDLGrabber (
const boost::asio::ip::address& ipAddress,
110 const std::uint16_t port,
111 const std::string& correctionsFile =
"");
129 getName () const override;
135 isRunning () const override;
140 getFramesPerSecond () const override;
146 filterPackets (const
boost::asio::ip::address& ipAddress,
147 const std::uint16_t port = 443);
154 setLaserColorRGB (const
pcl::
RGB& color,
155 const std::uint8_t laserNumber);
161 template<typename IterT>
void
162 setLaserColorRGB (const IterT& begin, const IterT& end)
164 std::copy (begin, end, laser_rgb_mapping_);
172 setMinimumDistanceThreshold (
float & minThreshold);
179 setMaximumDistanceThreshold (
float & maxThreshold);
185 getMinimumDistanceThreshold ();
190 getMaximumDistanceThreshold ();
195 getMaximumNumberOfLasers ()
const;
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;
206 BLOCK_0_TO_31 = 0xeeff, BLOCK_32_TO_63 = 0xddff
209 #pragma pack(push, 1)
261 fireCurrentScan (
const std::uint16_t startAngle,
262 const std::uint16_t endAngle);
265 std::uint16_t azimuth,
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_context 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_;
290 virtual boost::asio::ip::address
291 getDefaultNetworkAddress ();
294 initialize (
const std::string& correctionsFile =
"");
297 processVelodynePackets ();
300 enqueueHDLPacket (
const std::uint8_t *data,
301 std::size_t bytesReceived);
304 loadCorrectionsFile (
const std::string& correctionsFile);
307 loadHDL32Corrections ();
310 readPacketsFromSocket ();
314 readPacketsFromPcap();
316 #endif //#ifdef HAVE_PCAP
319 isAddressUnspecified (
const boost::asio::ip::address& ip_address);
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...
double verticalCorrection
double horizontalOffsetCorrection
shared_ptr< PointCloud< PointT > > Ptr
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba > * sweep_xyzrgba_signal_
double verticalOffsetCorrection
double distanceCorrection
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...
pcl::PointCloud< pcl::PointXYZI >::Ptr current_sweep_xyzi_
std::uint16_t blockIdentifier
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr current_sweep_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.
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyz > * scan_xyz_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyz > * sweep_xyz_signal_
double sinVertOffsetCorrection
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...
Grabber for the Velodyne High-Definition-Laser (HDL)
Grabber interface for PCL 1.x device drivers.
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.
A structure representing RGB color information.
double cosVertOffsetCorrection
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzi > * scan_xyzi_signal_
shared_ptr< const PointCloud< PointT > > ConstPtr
std::uint32_t gpsTimestamp
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...
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba > * scan_xyzrgba_signal_
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > * sweep_xyzi_signal_
std::uint16_t rotationalPosition
pcl::PointCloud< pcl::PointXYZ >::Ptr current_sweep_xyz_
std::uint16_t last_azimuth_