39 #include "pcl/pcl_config.h" 41 #ifndef PCL_IO_VLP_GRABBER_H_ 42 #define PCL_IO_VLP_GRABBER_H_ 44 #include <pcl/io/hdl_grabber.h> 45 #include <pcl/io/grabber.h> 47 #include <pcl/point_cloud.h> 48 #include <boost/asio.hpp> 70 VLPGrabber (
const boost::asio::ip::address& ipAddress,
88 setLaserColorRGB (
const pcl::RGB& color,
89 const uint8_t laserNumber);
95 template<
typename IterT>
void 98 std::copy (begin, end, laser_rgb_mapping_);
104 getMaximumNumberOfLasers ()
const;
107 static const uint8_t VLP_MAX_NUM_LASERS = 16;
108 static const uint8_t VLP_DUAL_MODE = 0x39;
111 pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
116 boost::asio::ip::address
117 getDefaultNetworkAddress ();
120 initializeLaserMapping ();
123 loadVLP16Corrections ();
Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL) ...
This file defines compatibility wrappers for low level I/O functions.
Grabber for the Velodyne High-Definition-Laser (HDL)
A structure representing RGB color information.
void setLaserColorRGB(const IterT &begin, const IterT &end)
Allows one to customize the colors used for each of the lasers.
Defines all the PCL implemented PointT point type structures.