Point Cloud Library (PCL)  1.8.0
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pcl::HDLGrabber Class Reference

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

#include <pcl/io/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. 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...
 
- Public Member Functions inherited from pcl::Grabber
 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
 

Protected Member Functions

void fireCurrentSweep ()
 
void fireCurrentScan (const unsigned short startAngle, const unsigned short endAngle)
 
void computeXYZI (pcl::PointXYZI &pointXYZI, int azimuth, HDLLaserReturn laserReturn, HDLLaserCorrection correction)
 
- Protected Member Functions inherited from pcl::Grabber
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 ()
 

Protected Attributes

HDLLaserCorrection laser_corrections_ [HDL_MAX_NUM_LASERS]
 
unsigned int last_azimuth_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZ > > current_scan_xyz_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZ > > current_sweep_xyz_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZI > > current_scan_xyzi_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZI > > current_sweep_xyzi_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZRGBA > > current_scan_xyzrgb_
 
boost::shared_ptr< pcl::PointCloud< pcl::PointXYZRGBA > > current_sweep_xyzrgb_
 
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyz > * sweep_xyz_signal_
 
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb > * sweep_xyzrgb_signal_
 
boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > * sweep_xyzi_signal_
 
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyz > * scan_xyz_signal_
 
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb > * scan_xyzrgb_signal_
 
boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzi > * scan_xyzi_signal_
 
- Protected Attributes inherited from pcl::Grabber
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_
 

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
 

Detailed Description

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

Author
Keven Ring keven.nosp@m.@mit.nosp@m.re.or.nosp@m.g

Definition at line 60 of file hdl_grabber.h.

Member Typedef Documentation

§ HDLLaserReturn

§ sig_cb_velodyne_hdl_scan_point_cloud_xyz

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 67 of file hdl_grabber.h.

§ sig_cb_velodyne_hdl_scan_point_cloud_xyzi

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 81 of file hdl_grabber.h.

§ sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb

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 74 of file hdl_grabber.h.

§ sig_cb_velodyne_hdl_sweep_point_cloud_xyz

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 89 of file hdl_grabber.h.

§ sig_cb_velodyne_hdl_sweep_point_cloud_xyzi

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 95 of file hdl_grabber.h.

§ sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb

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 101 of file hdl_grabber.h.

Member Enumeration Documentation

§ HDLBlock

enum pcl::HDLGrabber::HDLBlock
protected
Enumerator
BLOCK_0_TO_31 
BLOCK_32_TO_63 

Definition at line 193 of file hdl_grabber.h.

Constructor & Destructor Documentation

§ HDLGrabber() [1/2]

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]correctionsFilePath 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]pcapFilePath to a file which contains previously captured data packets. This parameter is optional

§ HDLGrabber() [2/2]

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]ipAddressIP Address that should be used to listen for HDL packets
[in]portUDP Port that should be used to listen for HDL packets
[in]correctionsFilePath to a file which contains the correction parameters for the HDL. This field is mandatory for the HDL-64, optional for the HDL-32

§ ~HDLGrabber()

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

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

§ computeXYZI()

void pcl::HDLGrabber::computeXYZI ( pcl::PointXYZI pointXYZI,
int  azimuth,
HDLLaserReturn  laserReturn,
HDLLaserCorrection  correction 
)
protected

§ filterPackets()

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.

§ fireCurrentScan()

void pcl::HDLGrabber::fireCurrentScan ( const unsigned short  startAngle,
const unsigned short  endAngle 
)
protected

§ fireCurrentSweep()

void pcl::HDLGrabber::fireCurrentSweep ( )
protected

§ getFramesPerSecond()

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

Returns the number of frames per second.

Implements pcl::Grabber.

§ getMaximumDistanceThreshold()

float pcl::HDLGrabber::getMaximumDistanceThreshold ( )

Returns the current maximum distance threshold, in meters.

§ getMinimumDistanceThreshold()

float pcl::HDLGrabber::getMinimumDistanceThreshold ( )

Returns the current minimum distance threshold, in meters.

§ getName()

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

Obtains the name of this I/O Grabber.

Returns
The name of the grabber

Implements pcl::Grabber.

Reimplemented in pcl::VLPGrabber.

§ isRunning()

virtual 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.

§ setLaserColorRGB()

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

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

§ setMaximumDistanceThreshold()

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

§ setMinimumDistanceThreshold()

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

§ start()

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

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

Implements pcl::Grabber.

§ stop()

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

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

Implements pcl::Grabber.

Member Data Documentation

§ current_scan_xyz_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::HDLGrabber::current_scan_xyz_
protected

Definition at line 236 of file hdl_grabber.h.

§ current_scan_xyzi_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::HDLGrabber::current_scan_xyzi_
protected

Definition at line 237 of file hdl_grabber.h.

§ current_scan_xyzrgb_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > pcl::HDLGrabber::current_scan_xyzrgb_
protected

Definition at line 238 of file hdl_grabber.h.

§ current_sweep_xyz_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::HDLGrabber::current_sweep_xyz_
protected

Definition at line 236 of file hdl_grabber.h.

§ current_sweep_xyzi_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::HDLGrabber::current_sweep_xyzi_
protected

Definition at line 237 of file hdl_grabber.h.

§ current_sweep_xyzrgb_

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > pcl::HDLGrabber::current_sweep_xyzrgb_
protected

Definition at line 238 of file hdl_grabber.h.

§ HDL_DATA_PORT

const int pcl::HDLGrabber::HDL_DATA_PORT = 2368
staticprotected

Definition at line 187 of file hdl_grabber.h.

§ HDL_FIRING_PER_PKT

const int pcl::HDLGrabber::HDL_FIRING_PER_PKT = 12
staticprotected

Definition at line 191 of file hdl_grabber.h.

§ HDL_LASER_PER_FIRING

const int pcl::HDLGrabber::HDL_LASER_PER_FIRING = 32
staticprotected

Definition at line 189 of file hdl_grabber.h.

§ HDL_MAX_NUM_LASERS

const int pcl::HDLGrabber::HDL_MAX_NUM_LASERS = 64
staticprotected

Definition at line 190 of file hdl_grabber.h.

§ HDL_NUM_ROT_ANGLES

const int pcl::HDLGrabber::HDL_NUM_ROT_ANGLES = 36001
staticprotected

Definition at line 188 of file hdl_grabber.h.

§ laser_corrections_

HDLLaserCorrection pcl::HDLGrabber::laser_corrections_[HDL_MAX_NUM_LASERS]
protected

Definition at line 234 of file hdl_grabber.h.

§ last_azimuth_

unsigned int pcl::HDLGrabber::last_azimuth_
protected

Definition at line 235 of file hdl_grabber.h.

§ scan_xyz_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyz>* pcl::HDLGrabber::scan_xyz_signal_
protected

Definition at line 242 of file hdl_grabber.h.

§ scan_xyzi_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyzi>* pcl::HDLGrabber::scan_xyzi_signal_
protected

Definition at line 244 of file hdl_grabber.h.

§ scan_xyzrgb_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb>* pcl::HDLGrabber::scan_xyzrgb_signal_
protected

Definition at line 243 of file hdl_grabber.h.

§ sweep_xyz_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyz>* pcl::HDLGrabber::sweep_xyz_signal_
protected

Definition at line 239 of file hdl_grabber.h.

§ sweep_xyzi_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzi>* pcl::HDLGrabber::sweep_xyzi_signal_
protected

Definition at line 241 of file hdl_grabber.h.

§ sweep_xyzrgb_signal_

boost::signals2::signal<sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb>* pcl::HDLGrabber::sweep_xyzrgb_signal_
protected

Definition at line 240 of file hdl_grabber.h.


The documentation for this class was generated from the following file: