125 lines
4.3 KiB
C++
125 lines
4.3 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2015-, Open Perception, Inc.
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* Copyright (c) 2015 The MITRE Corporation
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include "pcl/pcl_config.h"
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#include <pcl/io/hdl_grabber.h>
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#include <pcl/io/grabber.h>
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#include <pcl/point_types.h>
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#include <boost/asio.hpp>
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#include <string>
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namespace pcl
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{
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/** \brief Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
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* \author Keven Ring <keven@mitre.org>
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* \ingroup io
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*/
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class PCL_EXPORTS VLPGrabber : public HDLGrabber
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{
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public:
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/** \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]
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* \param[in] pcapFile Path to a file which contains previously captured data packets. This parameter is optional
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*/
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VLPGrabber (const std::string& pcapFile = "");
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/** \brief Constructor taking a specified IP/port
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* \param[in] ipAddress IP Address that should be used to listen for VLP packets
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* \param[in] port UDP Port that should be used to listen for VLP packets
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*/
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VLPGrabber (const boost::asio::ip::address& ipAddress,
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const std::uint16_t port);
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/** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
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~VLPGrabber () noexcept;
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/** \brief Obtains the name of this I/O Grabber
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* \return The name of the grabber
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*/
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std::string
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getName () const override;
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/** \brief Allows one to customize the colors used by each laser.
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* \param[in] color RGB color to set
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* \param[in] laserNumber Number of laser to set color
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*/
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void
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setLaserColorRGB (const pcl::RGB& color,
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const std::uint8_t laserNumber);
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/** \brief Allows one to customize the colors used for each of the lasers.
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* \param[in] begin begin iterator of RGB color array
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* \param[in] end end iterator of RGB color array
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*/
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template<typename IterT> void
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setLaserColorRGB (const IterT& begin, const IterT& end)
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{
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std::copy (begin, end, laser_rgb_mapping_);
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}
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/** \brief Returns the maximum number of lasers
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*/
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std::uint8_t
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getMaximumNumberOfLasers () const override;
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protected:
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static const std::uint8_t VLP_MAX_NUM_LASERS = 16;
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static const std::uint8_t VLP_DUAL_MODE = 0x39;
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private:
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pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
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void
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toPointClouds (HDLDataPacket *dataPacket) override;
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boost::asio::ip::address
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getDefaultNetworkAddress () override;
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void
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initializeLaserMapping ();
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void
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loadVLP16Corrections ();
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};
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}
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