Grabber for the Velodyne High-Definition-Laser (HDL) More...

#include <hdl_grabber.h>

Inheritance diagram for pcl::HDLGrabber:

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.
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.
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. Each laser has a different RGB.
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".
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".
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". Each laser has a different RGB.
Public Member Functions
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.
virtual float	getFramesPerSecond () const
	Returns the number of frames per second.
float	getMaximumDistanceThreshold ()
	Returns the current maximum distance threshold, in meters.
float	getMinimumDistanceThreshold ()
	Returns the current minimum distance threshold, in meters.
virtual std::string	getName () const
	Obtains the name of this I/O Grabber.
	HDLGrabber (const std::string &correctionsFile="", const std::string &pcapFile="")
	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].
	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.
virtual bool	isRunning () const
	Check if the grabber is still running.
void	setLaserColorRGB (const pcl::RGB &color, unsigned int laserNumber)
	Allows one to customize the colors used for each of the lasers.
void	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	setMinimumDistanceThreshold (float &minThreshold)
	Any returns from the HDL with a distance less than this are discarded. This value is in meters Default: 0.0.
virtual void	start ()
	Starts processing the Velodyne packets, either from the network or PCAP file.
virtual void	stop ()
	Stops processing the Velodyne packets, either from the network or PCAP file.
virtual	~HDLGrabber () throw ()
	virtual Destructor inherited from the Grabber interface. It never throws.
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 boost::asio::ip::address	HDL_DEFAULT_NETWORK_ADDRESS = boost::asio::ip::address::from_string ("192.168.3.255")
static const int	HDL_FIRING_PER_PKT = 12
static const int	HDL_LASER_PER_FIRING = 32
static const int	HDL_MAX_NUM_LASERS = 64
static const int	HDL_NUM_ROT_ANGLES = 36001
Private Member Functions
void	computeXYZI (pcl::PointXYZI &pointXYZI, int azimuth, HDLLaserReturn laserReturn, HDLLaserCorrection correction)
void	enqueueHDLPacket (const unsigned char *data, std::size_t bytesReceived)
void	fireCurrentScan (const unsigned short startAngle, const unsigned short endAngle)
void	fireCurrentSweep ()
void	initialize (const std::string &correctionsFile)
bool	isAddressUnspecified (const boost::asio::ip::address &ip_address)
void	loadCorrectionsFile (const std::string &correctionsFile)
void	loadHDL32Corrections ()
void	processVelodynePackets ()
void	readPacketsFromSocket ()
void	toPointClouds (HDLDataPacket *dataPacket)
Private Attributes
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZ > >	current_scan_xyz_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZI > >	current_scan_xyzi_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGBA > >	current_scan_xyzrgb_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZ > >	current_sweep_xyz_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZI > >	current_sweep_xyzi_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGBA > >	current_sweep_xyzrgb_
pcl::SynchronizedQueue < unsigned char * >	hdl_data_
boost::thread *	hdl_read_packet_thread_
boost::asio::ip::udp::socket *	hdl_read_socket_
boost::asio::io_service	hdl_read_socket_service_
HDLLaserCorrection	laser_corrections_ [HDL_MAX_NUM_LASERS]
pcl::RGB	laser_rgb_mapping_ [HDL_MAX_NUM_LASERS]
unsigned int	last_azimuth_
float	max_distance_threshold_
float	min_distance_threshold_
std::string	pcap_file_name_
boost::thread *	queue_consumer_thread_
boost::signals2::signal < sig_cb_velodyne_hdl_scan_point_cloud_xyz > *	scan_xyz_signal_
boost::signals2::signal < sig_cb_velodyne_hdl_scan_point_cloud_xyzi > *	scan_xyzi_signal_
boost::signals2::signal < sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb > *	scan_xyzrgb_signal_
boost::asio::ip::address	source_address_filter_
unsigned short	source_port_filter_
boost::signals2::signal < sig_cb_velodyne_hdl_sweep_point_cloud_xyz > *	sweep_xyz_signal_
boost::signals2::signal < sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > *	sweep_xyzi_signal_
boost::signals2::signal < sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb > *	sweep_xyzrgb_signal_
bool	terminate_read_packet_thread_
boost::asio::ip::udp::endpoint	udp_listener_endpoint_
Static Private Attributes
static double *	cos_lookup_table_ = NULL
static double *	sin_lookup_table_ = NULL

Detailed Description

Grabber for the Velodyne High-Definition-Laser (HDL)

Author:: Keven Ring <keven@mitre.org>

Definition at line 59 of file hdl_grabber.h.

Member Typedef Documentation

typedef struct pcl::HDLGrabber::HDLLaserReturn pcl::HDLGrabber::HDLLaserReturn [protected]

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.

Member Enumeration Documentation

enum pcl::HDLGrabber::HDLBlock [protected]

Enumerator:

BLOCK_0_TO_31
BLOCK_32_TO_63

Definition at line 176 of file hdl_grabber.h.

Constructor & Destructor Documentation

pcl::HDLGrabber::HDLGrabber	(	const std::string &	correctionsFile = `""`,
		const std::string &	pcapFile = `""`
	)

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].

Parameters:

[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

Definition at line 59 of file hdl_grabber.cpp.

pcl::HDLGrabber::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.

Parameters:

[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

pcl::HDLGrabber::~HDLGrabber ( ) throw () [virtual]

virtual Destructor inherited from the Grabber interface. It never throws.

Definition at line 122 of file hdl_grabber.cpp.

Member Function Documentation

void pcl::HDLGrabber::computeXYZI	(	pcl::PointXYZI &	pointXYZI,
		int	azimuth,
		HDLLaserReturn	laserReturn,
		HDLLaserCorrection	correction
	)		`[private]`

Definition at line 401 of file hdl_grabber.cpp.

void pcl::HDLGrabber::enqueueHDLPacket	(	const unsigned char *	data,
		std::size_t	bytesReceived
	)		`[private]`

Definition at line 470 of file hdl_grabber.cpp.

void pcl::HDLGrabber::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.

Definition at line 573 of file hdl_grabber.cpp.

void pcl::HDLGrabber::fireCurrentScan	(	const unsigned short	startAngle,
		const unsigned short	endAngle
	)		`[private]`

Definition at line 452 of file hdl_grabber.cpp.

void pcl::HDLGrabber::fireCurrentSweep ( ) [private]

Definition at line 438 of file hdl_grabber.cpp.

float pcl::HDLGrabber::getFramesPerSecond ( ) const [virtual]

Returns the number of frames per second.

Implements pcl::Grabber.

Definition at line 566 of file hdl_grabber.cpp.

float pcl::HDLGrabber::getMaximumDistanceThreshold ( )

Returns the current maximum distance threshold, in meters.

Definition at line 619 of file hdl_grabber.cpp.

float pcl::HDLGrabber::getMinimumDistanceThreshold ( )

Returns the current minimum distance threshold, in meters.

Definition at line 625 of file hdl_grabber.cpp.

std::string pcl::HDLGrabber::getName ( ) const [virtual]

Obtains the name of this I/O Grabber.

Returns:: The name of the grabber

Implements pcl::Grabber.

Definition at line 559 of file hdl_grabber.cpp.

void pcl::HDLGrabber::initialize ( const std::string & correctionsFile ) [private]

Definition at line 136 of file hdl_grabber.cpp.

bool pcl::HDLGrabber::isAddressUnspecified ( const boost::asio::ip::address & ip_address ) [private]

Definition at line 593 of file hdl_grabber.cpp.

bool pcl::HDLGrabber::isRunning ( ) const [virtual]

Check if the grabber is still running.

Returns:: TRUE if the grabber is running, FALSE otherwise

Implements pcl::Grabber.

Definition at line 551 of file hdl_grabber.cpp.

void pcl::HDLGrabber::loadCorrectionsFile ( const std::string & correctionsFile ) [private]

Definition at line 200 of file hdl_grabber.cpp.

void pcl::HDLGrabber::loadHDL32Corrections ( ) [private]

Definition at line 267 of file hdl_grabber.cpp.

void pcl::HDLGrabber::processVelodynePackets ( ) [private]

Definition at line 298 of file hdl_grabber.cpp.

void pcl::HDLGrabber::readPacketsFromSocket ( ) [private]

Definition at line 631 of file hdl_grabber.cpp.

void pcl::HDLGrabber::setLaserColorRGB	(	const pcl::RGB &	color,
		unsigned int	laserNumber
	)

Allows one to customize the colors used for each of the lasers.

Definition at line 582 of file hdl_grabber.cpp.

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.

Definition at line 607 of file hdl_grabber.cpp.

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.

Definition at line 613 of file hdl_grabber.cpp.

void pcl::HDLGrabber::start ( ) [virtual]

Starts processing the Velodyne packets, either from the network or PCAP file.

Implements pcl::Grabber.

Definition at line 484 of file hdl_grabber.cpp.

void pcl::HDLGrabber::stop ( ) [virtual]

Stops processing the Velodyne packets, either from the network or PCAP file.

Implements pcl::Grabber.

Definition at line 523 of file hdl_grabber.cpp.

void pcl::HDLGrabber::toPointClouds ( HDLDataPacket * dataPacket ) [private]

Definition at line 314 of file hdl_grabber.cpp.

Member Data Documentation

double * pcl::HDLGrabber::cos_lookup_table_ = NULL [static, private]

Definition at line 218 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::HDLGrabber::current_scan_xyz_ [private]

Definition at line 231 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::HDLGrabber::current_scan_xyzi_ [private]

Definition at line 233 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > pcl::HDLGrabber::current_scan_xyzrgb_ [private]

Definition at line 235 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::HDLGrabber::current_sweep_xyz_ [private]

Definition at line 231 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::HDLGrabber::current_sweep_xyzi_ [private]

Definition at line 233 of file hdl_grabber.h.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > pcl::HDLGrabber::current_sweep_xyzrgb_ [private]

Definition at line 235 of file hdl_grabber.h.

pcl::SynchronizedQueue<unsigned char *> pcl::HDLGrabber::hdl_data_ [private]

Definition at line 220 of file hdl_grabber.h.

const int pcl::HDLGrabber::HDL_DATA_PORT = 2368 [static, protected]

Definition at line 169 of file hdl_grabber.h.

const boost::asio::ip::address pcl::HDLGrabber::HDL_DEFAULT_NETWORK_ADDRESS = boost::asio::ip::address::from_string ("192.168.3.255") [static, protected]

Definition at line 174 of file hdl_grabber.h.

const int pcl::HDLGrabber::HDL_FIRING_PER_PKT = 12 [static, protected]

Definition at line 173 of file hdl_grabber.h.

const int pcl::HDLGrabber::HDL_LASER_PER_FIRING = 32 [static, protected]

Definition at line 171 of file hdl_grabber.h.

const int pcl::HDLGrabber::HDL_MAX_NUM_LASERS = 64 [static, protected]

Definition at line 172 of file hdl_grabber.h.

const int pcl::HDLGrabber::HDL_NUM_ROT_ANGLES = 36001 [static, protected]

Definition at line 170 of file hdl_grabber.h.

boost::thread* pcl::HDLGrabber::hdl_read_packet_thread_ [private]

Definition at line 228 of file hdl_grabber.h.

boost::asio::ip::udp::socket* pcl::HDLGrabber::hdl_read_socket_ [private]