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| VLPGrabber (const std::string &pcapFile="") |
| Constructor taking an optional path to an vlp corrections file. More...
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| VLPGrabber (const boost::asio::ip::address &ipAddress, const uint16_t port) |
| Constructor taking a specified IP/port. More...
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virtual | ~VLPGrabber () throw () |
| virtual Destructor inherited from the Grabber interface. More...
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virtual std::string | getName () const |
| Obtains the name of this I/O Grabber. More...
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void | setLaserColorRGB (const pcl::RGB &color, const uint8_t laserNumber) |
| Allows one to customize the colors used by each laser. More...
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template<typename IterT > |
void | setLaserColorRGB (const IterT &begin, const IterT &end) |
| Allows one to customize the colors used for each of the lasers. More...
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virtual uint8_t | getMaximumNumberOfLasers () const |
| Returns the maximum number of lasers. More...
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| HDLGrabber (const std::string &correctionsFile="", const std::string &pcapFile="") |
| Constructor taking an optional path to an HDL corrections file. More...
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| HDLGrabber (const boost::asio::ip::address &ipAddress, const uint16_t port, const std::string &correctionsFile="") |
| Constructor taking a specified IP/port and an optional path to an HDL corrections file. More...
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virtual | ~HDLGrabber () throw () |
| virtual Destructor inherited from the Grabber interface. More...
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virtual void | start () |
| Starts processing the Velodyne packets, either from the network or PCAP file. More...
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virtual void | stop () |
| Stops processing the Velodyne packets, either from the network or PCAP file. More...
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virtual bool | isRunning () const |
| Check if the grabber is still running. More...
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virtual float | getFramesPerSecond () const |
| Returns the number of frames per second. More...
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void | filterPackets (const boost::asio::ip::address &ipAddress, const uint16_t 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...
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void | setLaserColorRGB (const pcl::RGB &color, const uint8_t laserNumber) |
| Allows one to customize the colors used by each laser. More...
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template<typename IterT > |
void | setLaserColorRGB (const IterT &begin, const IterT &end) |
| Allows one to customize the colors used for each of the lasers. More...
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void | setMinimumDistanceThreshold (float &minThreshold) |
| Any returns from the HDL with a distance less than this are discarded. More...
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void | setMaximumDistanceThreshold (float &maxThreshold) |
| Any returns from the HDL with a distance greater than this are discarded. More...
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float | getMinimumDistanceThreshold () |
| Returns the current minimum distance threshold, in meters. More...
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float | getMaximumDistanceThreshold () |
| Returns the current maximum distance threshold, in meters. More...
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| Grabber () |
| Constructor. More...
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virtual | ~Grabber () throw () |
| virtual destructor. More...
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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...
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template<typename T > |
bool | providesCallback () const |
| indicates whether a signal with given parameter-type exists or not More...
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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...
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typedef void() | sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba(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...
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typedef sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba | sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb |
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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...
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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...
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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...
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typedef void() | sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba(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...
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typedef sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba | sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb |
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enum | HDLBlock { BLOCK_0_TO_31 = 0xeeff,
BLOCK_32_TO_63 = 0xddff
} |
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typedef struct pcl::HDLGrabber::HDLLaserReturn | HDLLaserReturn |
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void | fireCurrentSweep () |
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void | fireCurrentScan (const uint16_t startAngle, const uint16_t endAngle) |
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void | computeXYZI (pcl::PointXYZI &pointXYZI, uint16_t azimuth, HDLLaserReturn laserReturn, HDLLaserCorrection correction) |
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virtual void | signalsChanged () |
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template<typename T > |
boost::signals2::signal< T > * | find_signal () const |
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template<typename T > |
int | num_slots () const |
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template<typename T > |
void | disconnect_all_slots () |
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template<typename T > |
void | block_signal () |
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template<typename T > |
void | unblock_signal () |
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void | block_signals () |
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void | unblock_signals () |
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template<typename T > |
boost::signals2::signal< T > * | createSignal () |
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HDLLaserCorrection | laser_corrections_ [HDL_MAX_NUM_LASERS] |
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uint16_t | last_azimuth_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZ > > | current_scan_xyz_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZ > > | current_sweep_xyz_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZI > > | current_scan_xyzi_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZI > > | current_sweep_xyzi_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZRGBA > > | current_scan_xyzrgba_ |
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boost::shared_ptr< pcl::PointCloud< pcl::PointXYZRGBA > > | current_sweep_xyzrgba_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyz > * | sweep_xyz_signal_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgba > * | sweep_xyzrgba_signal_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_sweep_point_cloud_xyzi > * | sweep_xyzi_signal_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyz > * | scan_xyz_signal_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzrgba > * | scan_xyzrgba_signal_ |
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boost::signals2::signal< sig_cb_velodyne_hdl_scan_point_cloud_xyzi > * | scan_xyzi_signal_ |
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std::map< std::string, boost::signals2::signal_base * > | signals_ |
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std::map< std::string, std::vector< boost::signals2::connection > > | connections_ |
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std::map< std::string, std::vector< boost::signals2::shared_connection_block > > | shared_connections_ |
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Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
- Author
- Keven Ring keven.nosp@m.@mit.nosp@m.re.or.nosp@m.g
Definition at line 58 of file vlp_grabber.h.