Detailed Description

A C++ interface to Velodyne laser scanners (HDL-64, HDL-32, VLP-16), working on Linux and Windows.

(Using this class requires WinPCap as a run-time dependency in Windows). It can receive data from real devices via an Ethernet connection or parse a WireShark PCAP file for offline processing. The choice of online vs. offline operation is taken upon calling initialize(): if a PCAP input file has been defined, offline operation takes place and network is not listened for incomming packets.

Parsing dual return scans requires a VLP-16 with firmware version 3.0.23 or newer. While converting the scan into a point cloud in mrpt::obs::CObservationVelodyneScan you can select whether to keep the strongest, the last or both laser returns.

XML calibration files are not mandatory for VLP-16 and HDL-32, but they are for HDL-64.

Grabbing live data (as a user)

Use the application velodyne-view to visualize the LIDAR output in real-time (optionally saving to a PCAP file) or to playback a PCAP file.
Use rawlog-grabber to record a dataset in MRPT's format together with any other set of sensors. See example config file: MRPT\share\mrpt\config_files\rawlog-grabber\velodyne.ini

Grabbing live data (programmatically)

See CGenericSensor for a general overview of the sequence of methods to be called: loadConfig(), initialize(), doProcess().
Or use this class inside the application rawlog-grabber. See example config files: MRPT\share\mrpt\config_files\rawlog-grabber\velodyne.ini

See the source code of the example application [MRPT]/apps/velodyne-view (velodyne-view web page) for more details.

Playing back a PCAP file:

It is common to save Velodyne datasets as Wireshark's PCAP files. These files can be played back with tools like bittwist, which emit all UDP packets in the PCAP log. Then, use this class to receive the packets as if they come from the real sensor.

Alternatively, if MRPT is linked against libpcap, this class can directly parse a PCAP file to simulate reading from a device offline. See method setPCAPInputFile() and config file parameter ``

To compile with PCAP support: In Debian/Ubuntu, install libpcap-dev. In Windows, install WinPCap developer packages + the regular WinPCap driver.

Configuration and usage:

Data is returned as observations of type:

mrpt::obs::CObservationVelodyneScan for one or more "data packets" (refer to Velodyne usage manual)
mrpt::obs::CObservationGPS for GPS (GPRMC) packets, if available via the synchronization interface of the device. See those classes for documentation on their fields.

Configuration includes setting the device IP (optional) and sensor model (mandatory only if a calibration file is not provided). These parameters can be set programmatically (see methods of this class), or via a configuration file with CGenericSensor::loadConfig() (see example config file section below).

About timestamps:

Each gathered observation of type mrpt::obs::CObservationVelodyneScan is populated with two timestamps, one for the local PC timestamp and, if available, another one for the GPS-stamped timestamp. Refer to the observation docs for details.

Format of parameters for loading from a .ini file

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  # ---- Sensor description ----
  #calibration_file         = PUT_HERE_FULL_PATH_TO_CALIB_FILE.xml      //
Optional but recommended: put here your vendor-provided calibration file
  model                    = VLP16      // Can be any of: `VLP16`, `HDL32`,
`HDL64`  (It is used to load default calibration file. Parameter not required
if `calibration_file` is provided.
  #pos_packets_min_period  = 0.5        // (Default=0.5 seconds) Minimum
period to leave between reporting position packets. Used to decimate the
large number of packets of this type.
  # How long to wait, after loss of GPS signal, to report timestamps as "not
based on satellite time". 30 secs, with typical velodyne clock drifts, means
a ~1.7 ms typical drift.
  #pos_packets_timing_timeout = 30      // (Default=30 seconds)
  # ---- Online operation ----
  # IP address of the device. UDP packets from other IPs will be ignored.
Leave commented or blank
  # if only one scanner is present (no IP filtering)
  #device_ip       = XXX.XXX.XXX.XXX
  #rpm             = 600        // Sensor RPM (Default: unchanged). Requires
setting `device_ip`
  #return_type     = STRONGEST  // Any of: 'STRONGEST', 'LAST', 'DUAL'
(Default: unchanged). Requires setting `device_ip`
  # ---- Offline operation ----
  # If uncommented, this class will read from the PCAP instead of connecting
and listeling
  # for online network packets.
  # pcap_input     = PUT_FULL_PATH_TO_PCAP_LOG_FILE.pcap
  # pcap_read_once = false   // Do not loop
  # pcap_read_fast = false    // fast forward skipping non-velodyne packets
  # pcap_read_full_scan_delay_ms = 100 // Used to simulate a reasonable
number of full scans / second
  # pcap_repeat_delay = 0.0   // seconds
  # ---- Save to PCAP file ----
  # If uncommented, a PCAP file named
`[pcap_output_prefix]_[DATE_TIME].pcap` will be
  # written simultaneously to the normal operation of this class.
  # pcap_output     = velodyne_log
  # 3D position of the sensor on the vehicle:
  pose_x     = 0    // 3D position (meters)
  pose_y     = 0
  pose_z     = 0
  pose_yaw   = 0    // 3D orientation (degrees)
  pose_pitch = 0
  pose_roll  = 0

Copyright notice

Portions of this class are based on code from velodyne ROS node in https://github.com/ros-drivers/velodyne Copyright (C) 2007 Austin Robot Technology, Patrick Beeson Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin License: Modified BSD Software License Agreement

Note: New in MRPT 1.4.0

Definition at line 165 of file CVelodyneScanner.h.

#include <mrpt/hwdrivers/CVelodyneScanner.h>

Inheritance diagram for mrpt::hwdrivers::CVelodyneScanner:

Classes
struct	TModelProperties
	Hard-wired properties of LIDARs depending on the model. More...

struct	TModelPropertiesFactory
	Access to default sets of parameters for Velodyne LIDARs. More...

Public Types
enum	model_t { VLP16 = 1, HDL32 = 2, HDL64 = 3 }
	LIDAR model types. More...

enum	return_type_t { UNCHANGED = 0, STRONGEST, LAST, DUAL }
	LIDAR return type. More...

using	model_properties_list_t = std::map< model_t, TModelProperties >

enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CVelodyneScanner ()

	~CVelodyneScanner () override

bool	getNextObservation (mrpt::obs::CObservationVelodyneScan::Ptr &outScan, mrpt::obs::CObservationGPS::Ptr &outGPS)
	Polls the UDP port for incoming data packets. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

void	initialize () override
	Tries to initialize the sensor driver, after setting all the parameters with a call to loadConfig. More...

void	close ()
	Close the UDP sockets set-up in initialize(). More...

bool	receivePackets (mrpt::system::TTimeStamp &data_pkt_timestamp, mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket &out_data_pkt, mrpt::system::TTimeStamp &pos_pkt_timestamp, mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket &out_pos_pkt)
	Users normally would prefer calling getNextObservation() instead. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages ([[maybe_unused]] const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Change configuration parameters; to be called BEFORE initialize();
see above for the list of parameters and their meaning
void	setModelName (const model_t model)
	See supported model names in the general discussion docs for mrpt::hwdrivers::CVelodyneScanner. More...

model_t	getModelName () const

void	setPosPacketsMinPeriod (double period_seconds)
	Set the minimum period between the generation of mrpt::obs::CObservationGPS observations from Velodyne Position RMC GPS packets. More...

double	getPosPacketsMinPeriod () const

void	setPosPacketsTimingTimeout (double timeout)
	Set how long to wait, after loss of GPS signal, to report timestamps as "not based on satellite time". More...

double	getPosPacketsTimingTimeout () const

void	setDeviceIP (const std::string &ip)
	UDP packets from other IPs will be ignored. More...

const std::string &	getDeviceIP () const

void	setPCAPVerbosity (const bool verbose)
	Enables/disables PCAP info messages to console (default: true) More...

void	setPCAPInputFile (const std::string &pcap_file)
	Enables reading from a PCAP file instead of live UDP packet listening. More...

const std::string &	getPCAPInputFile () const

void	setPCAPOutputFile (const std::string &out_pcap_file)
	Enables dumping to a PCAP file in parallel to returning regular MRPT objects. More...

const std::string &	getPCAPOutputFile () const

void	setPCAPInputFileReadOnce (bool read_once)

bool	getPCAPInputFileReadOnce () const

const mrpt::obs::VelodyneCalibration &	getCalibration () const

void	setCalibration (const mrpt::obs::VelodyneCalibration &calib)

bool	loadCalibrationFile (const std::string &velodyne_xml_calib_file_path)
	Returns false on error. More...

bool	setLidarReturnType (return_type_t ret_type)
	Changes among STRONGEST, LAST, DUAL return types (via HTTP post interface). More...

bool	setLidarRPM (int rpm)
	Changes Lidar RPM (valid range: 300-600) (via HTTP post interface). More...

bool	setLidarOnOff (bool on)
	Switches the LASER on/off (saves energy when not measuring) (via HTTP post interface). More...

void	setFramePublishing (bool on)
	Switches whole frame (points in a single revolution) on/off publication to data packet publication. More...

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Static Public Attributes
static short int	VELODYNE_DATA_UDP_PORT = 2368
	Default: 2368. More...

static short int	VELODYNE_POSITION_UDP_PORT = 8308
	Default: 8308. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &section) override
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
bool	m_initialized

model_t	m_model {CVelodyneScanner::VLP16}
	Default: "VLP16". More...

double	m_pos_packets_min_period {0.5}
	Default: 0.5 seconds. More...

double	m_pos_packets_timing_timeout {30.0}
	Default: 30 seconds. More...

std::string	m_device_ip
	Default: "" (no IP-based filtering) More...

bool	m_return_frames {true}
	Default: true Output whole frames and not data packets. More...

bool	m_pcap_verbose {true}
	Default: true Output PCAP Info msgs. More...

std::string	m_pcap_input_file
	Default: "" (do not operate from an offline file) More...

std::string	m_pcap_output_file
	Default: "" (do not dump to an offline file) More...

mrpt::poses::CPose3D	m_sensorPose

mrpt::obs::VelodyneCalibration	m_velodyne_calib
	Device calibration file (supplied by vendor in an XML file) More...

mrpt::system::TTimeStamp	m_last_pos_packet_timestamp

void *	m_pcap {nullptr}
	opaque ptr: "pcap_t*" More...

void *	m_pcap_out {nullptr}
	opaque ptr: "pcap_t*" More...

void *	m_pcap_dumper {nullptr}
	opaque ptr: "pcap_dumper_t *" More...

void *	m_pcap_bpf_program {nullptr}
	opaque ptr: bpf_program* More...

bool	m_pcap_file_empty {true}

unsigned int	m_pcap_read_count
	number of pkts read from the file so far (for debugging) More...

bool	m_pcap_read_once {false}
	Default: false. More...

bool	m_pcap_read_fast {false}
	(Default: false) If false, will use m_pcap_read_full_scan_delay_ms More...

double	m_pcap_read_full_scan_delay_ms {100}
	(Default:100 ms) delay after each full scan read from a PCAP log More...

double	m_pcap_repeat_delay {0.0}
	Default: 0 (in seconds) More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Types
using	platform_socket_t = uint32_t
	Handles for the UDP sockets, or INVALID_SOCKET (-1) More...

Private Member Functions
bool	internal_read_PCAP_packet (mrpt::system::TTimeStamp &data_pkt_time, uint8_t out_data_buffer, mrpt::system::TTimeStamp &pos_pkt_time, uint8_t out_pos_buffer)

bool	internal_send_http_post (const std::string &post_data)

Static Private Member Functions
static mrpt::system::TTimeStamp	internal_receive_UDP_packet (platform_socket_t hSocket, uint8_t *out_buffer, const size_t expected_packet_size, const std::string &filter_only_from_IP)

Private Attributes
platform_socket_t	m_hDataSock

platform_socket_t	m_hPositionSock

mrpt::obs::CObservationVelodyneScan::Ptr	m_rx_scan
	In progress RX scan. More...

mrpt::obs::gnss::Message_NMEA_RMC	m_last_gps_rmc

mrpt::system::TTimeStamp	m_last_gps_rmc_age

int	m_lidar_rpm {0}

return_type_t	m_lidar_return {UNCHANGED}

Member Typedef Documentation

◆ model_properties_list_t

using mrpt::hwdrivers::CVelodyneScanner::model_properties_list_t = std::map<model_t, TModelProperties>

Definition at line 196 of file CVelodyneScanner.h.

◆ platform_socket_t

using mrpt::hwdrivers::CVelodyneScanner::platform_socket_t = uint32_t

private

Handles for the UDP sockets, or INVALID_SOCKET (-1)

Definition at line 412 of file CVelodyneScanner.h.

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ model_t

enum mrpt::hwdrivers::CVelodyneScanner::model_t

LIDAR model types.

Enumerator
VLP16
HDL32
HDL64

Definition at line 175 of file CVelodyneScanner.h.

◆ return_type_t

enum mrpt::hwdrivers::CVelodyneScanner::return_type_t

LIDAR return type.

Enumerator
UNCHANGED
STRONGEST
LAST
DUAL

Definition at line 183 of file CVelodyneScanner.h.

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CVelodyneScanner()

CVelodyneScanner::CVelodyneScanner ( )

Definition at line 97 of file CVelodyneScanner.cpp.

References m_pcap_bpf_program, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, and THROW_EXCEPTION.

◆ ~CVelodyneScanner()

CVelodyneScanner::~CVelodyneScanner ( )

override

Definition at line 122 of file CVelodyneScanner.cpp.

References close(), and m_pcap_bpf_program.

Here is the call graph for this function:

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

Here is the caller graph for this function:

◆ close()

void CVelodyneScanner::close ( )

Close the UDP sockets set-up in initialize().

This is called automatically upon destruction

Definition at line 543 of file CVelodyneScanner.cpp.

References m_hDataSock, m_hPositionSock, m_initialized, m_pcap, m_pcap_dumper, and m_pcap_out.

Referenced by initialize(), and ~CVelodyneScanner().

Here is the caller graph for this function:

◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ doProcess()

void CVelodyneScanner::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 362 of file CVelodyneScanner.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), getNextObservation(), mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, and mrpt::hwdrivers::CGenericSensor::ssWorking.

Here is the call graph for this function:

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getCalibration()

const mrpt::obs::VelodyneCalibration& mrpt::hwdrivers::CVelodyneScanner::getCalibration ( ) const

inline

Definition at line 310 of file CVelodyneScanner.h.

References m_velodyne_calib.

◆ getDeviceIP()

const std::string& mrpt::hwdrivers::CVelodyneScanner::getDeviceIP ( ) const

inline

Definition at line 289 of file CVelodyneScanner.h.

References m_device_ip.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getModelName()

model_t mrpt::hwdrivers::CVelodyneScanner::getModelName ( ) const

inline

Definition at line 265 of file CVelodyneScanner.h.

References m_model.

◆ getNextObservation()

bool CVelodyneScanner::getNextObservation	(	mrpt::obs::CObservationVelodyneScan::Ptr &	outScan,
		mrpt::obs::CObservationGPS::Ptr &	outGPS
	)

Polls the UDP port for incoming data packets.

The user must call this method in a timely fashion to grab data as it it generated by the device. The minimum call rate should be the expected number of data packets/second (!=scans/second). Checkout Velodyne user manual if in doubt.

Parameters

[out]	outScan	Upon return, an empty smart pointer will be found here if no new data was available. Otherwise, a valid scan.
[out]	outGPS	Upon return, an empty smart pointer will be found here if no new GPS data was available. Otherwise, a valid GPS reading.

Returns: true if no error ocurred (even if there was no new observation). false if any communication error occurred.

Definition at line 196 of file CVelodyneScanner.cpp.

References ASSERTMSG_, mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::blocks, mrpt::system::buildTimestampFromParts(), mrpt::obs::CObservationGPS::Create(), mrpt::obs::CObservationVelodyneScan::Create(), mrpt::obs::gnss::Message_NMEA_RMC::fields, mrpt::hwdrivers::CVelodyneScanner::TModelPropertiesFactory::get(), mrpt::obs::gnss::UTC_time::getAsTimestamp(), mrpt::obs::gnss::Message_NMEA_RMC::getDateAsTimestamp(), mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp(), INVALID_TIMESTAMP, m_initialized, m_last_gps_rmc, m_last_gps_rmc_age, m_model, m_pcap, m_pcap_read_fast, m_pcap_read_full_scan_delay_ms, m_pos_packets_timing_timeout, m_return_frames, m_rx_scan, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_velodyne_calib, mrpt::system::TTimeParts::minute, mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket::NMEA_GPRMC, mrpt::hwdrivers::CGPSInterface::parse_NMEA(), receivePackets(), mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation(), mrpt::system::TTimeParts::second, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::system::timeDifference(), mrpt::system::timestampToParts(), mrpt::obs::gnss::Message_NMEA_RMC::content_t::UTCTime, and mrpt::obs::gnss::Message_NMEA_RMC::content_t::validity_char.

Referenced by doProcess().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

Here is the caller graph for this function:

◆ getPCAPInputFile()

const std::string& mrpt::hwdrivers::CVelodyneScanner::getPCAPInputFile ( ) const

inline

Definition at line 297 of file CVelodyneScanner.h.

References m_pcap_input_file.

◆ getPCAPInputFileReadOnce()

bool mrpt::hwdrivers::CVelodyneScanner::getPCAPInputFileReadOnce ( ) const

inline

Definition at line 309 of file CVelodyneScanner.h.

References m_pcap_read_once.

◆ getPCAPOutputFile()

const std::string& mrpt::hwdrivers::CVelodyneScanner::getPCAPOutputFile ( ) const

inline

Definition at line 304 of file CVelodyneScanner.h.

References m_pcap_output_file.

◆ getPosPacketsMinPeriod()

double mrpt::hwdrivers::CVelodyneScanner::getPosPacketsMinPeriod ( ) const

inline

Definition at line 273 of file CVelodyneScanner.h.

References m_pos_packets_min_period.

◆ getPosPacketsTimingTimeout()

double mrpt::hwdrivers::CVelodyneScanner::getPosPacketsTimingTimeout ( ) const

inline

Definition at line 281 of file CVelodyneScanner.h.

References m_pos_packets_timing_timeout.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CVelodyneScanner::initialize ( )

overridevirtual

Tries to initialize the sensor driver, after setting all the parameters with a call to loadConfig.

Tries to initialize the sensor, after setting all the parameters with a call to loadConfig.

Velodyne specifics: this method sets up the UDP listening sockets, so all relevant params MUST BE SET BEFORE calling this.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.
This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 384 of file CVelodyneScanner.cpp.

References close(), mrpt::obs::VelodyneCalibration::empty(), mrpt::format(), mrpt::comms::net::getLastSocketErrorStr(), INVALID_TIMESTAMP, m_device_ip, m_hDataSock, m_hPositionSock, m_initialized, m_last_gps_rmc_age, m_last_pos_packet_timestamp, m_lidar_return, m_lidar_rpm, m_model, m_pcap, m_pcap_bpf_program, m_pcap_file_empty, m_pcap_input_file, m_pcap_read_count, m_pcap_verbose, mrpt::hwdrivers::CGenericSensor::m_state, m_velodyne_calib, setLidarReturnType(), setLidarRPM(), mrpt::hwdrivers::CGenericSensor::ssInitializing, THROW_EXCEPTION, THROW_EXCEPTION_FMT, UNCHANGED, VELODYNE_DATA_UDP_PORT, and VELODYNE_POSITION_UDP_PORT.

Here is the call graph for this function:

◆ internal_read_PCAP_packet()

bool CVelodyneScanner::internal_read_PCAP_packet	(	mrpt::system::TTimeStamp &	data_pkt_time,
		uint8_t *	out_data_buffer,
		mrpt::system::TTimeStamp &	pos_pkt_time,
		uint8_t *	out_pos_buffer
	)

private

Definition at line 871 of file CVelodyneScanner.cpp.

References ASSERT_, mrpt::system::os::fprintf(), mrpt::obs::gnss::header, INVALID_TIMESTAMP, m_pcap, m_pcap_bpf_program, m_pcap_file_empty, m_pcap_input_file, m_pcap_read_count, m_pcap_read_once, m_pcap_repeat_delay, m_pcap_verbose, mrpt::hwdrivers::CGenericSensor::m_verbose, mrpt::system::os::memcpy(), mrpt::system::now(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, VELODYNE_DATA_UDP_PORT, and VELODYNE_POSITION_UDP_PORT.

Referenced by receivePackets().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ internal_receive_UDP_packet()

mrpt::system::TTimeStamp CVelodyneScanner::internal_receive_UDP_packet	(	platform_socket_t	hSocket,
		uint8_t *	out_buffer,
		const size_t	expected_packet_size,
		const std::string &	filter_only_from_IP
	)

staticprivate

Definition at line 763 of file CVelodyneScanner.cpp.

References mrpt::format(), mrpt::comms::net::getLastSocketErrorStr(), INVALID_TIMESTAMP, mrpt::system::now(), and THROW_EXCEPTION.

Referenced by receivePackets().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ internal_send_http_post()

bool CVelodyneScanner::internal_send_http_post ( const std::string & post_data )

private

Definition at line 1068 of file CVelodyneScanner.cpp.

References ASSERTMSG_, mrpt::comms::net::erOk, mrpt::format(), mrpt::comms::net::http_request(), m_device_ip, MRPT_END, and MRPT_START.

Referenced by setLidarOnOff(), setLidarReturnType(), and setLidarRPM().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadCalibrationFile()

bool CVelodyneScanner::loadCalibrationFile ( const std::string & velodyne_xml_calib_file_path )

Returns false on error.

See also: mrpt::obs::VelodyneCalibration::loadFromXMLFile()

Definition at line 135 of file CVelodyneScanner.cpp.

References mrpt::obs::VelodyneCalibration::loadFromXMLFile(), and m_velodyne_calib.

Referenced by loadConfig_sensorSpecific().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

Here is the call graph for this function:

◆ loadConfig_sensorSpecific()

void CVelodyneScanner::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	section
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 141 of file CVelodyneScanner.cpp.

References mrpt::DEG2RAD(), mrpt::format(), mrpt::hwdrivers::CVelodyneScanner::TModelPropertiesFactory::get(), mrpt::hwdrivers::CVelodyneScanner::TModelPropertiesFactory::getListKnownModels(), loadCalibrationFile(), m_device_ip, m_lidar_return, m_lidar_rpm, m_model, m_pcap_input_file, m_pcap_output_file, m_pcap_read_fast, m_pcap_read_full_scan_delay_ms, m_pcap_read_once, m_pcap_repeat_delay, m_pos_packets_min_period, m_pos_packets_timing_timeout, m_sensorPose, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR, MRPT_START, mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_float(), sect, and THROW_EXCEPTION.

Here is the call graph for this function:

◆ receivePackets()

bool CVelodyneScanner::receivePackets	(	mrpt::system::TTimeStamp &	data_pkt_timestamp,
		mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket &	out_data_pkt,
		mrpt::system::TTimeStamp &	pos_pkt_timestamp,
		mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket &	out_pos_pkt
	)

Users normally would prefer calling getNextObservation() instead.

This method polls the UDP data port and returns one Velodyne DATA packet (1206 bytes) and/or one POSITION packet. Refer to Velodyne users manual. Approximate timestamps (based on this computer clock) are returned for each kind of packets, or INVALID_TIMESTAMP if timeout ocurred waiting for a packet.

Returns: true on all ok. false only for pcap reading EOF

Definition at line 619 of file CVelodyneScanner.cpp.

References ASSERTMSG_, mrpt::system::TTimeParts::day, mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::obs::gnss::header, mrpt::system::TTimeParts::hour, internal_read_PCAP_packet(), internal_receive_UDP_packet(), INVALID_TIMESTAMP, m_device_ip, m_hDataSock, m_hPositionSock, m_last_pos_packet_timestamp, m_pcap, m_pcap_dumper, m_pcap_out, m_pcap_output_file, m_pos_packets_min_period, mrpt::system::os::memcpy(), mrpt::system::TTimeParts::minute, mrpt::system::TTimeParts::month, mrpt::system::now(), mrpt::system::TTimeParts::second, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::system::timeDifference(), mrpt::system::timestampToParts(), and mrpt::system::TTimeParts::year.

Referenced by getNextObservation().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Here is the call graph for this function:

◆ setCalibration()

void mrpt::hwdrivers::CVelodyneScanner::setCalibration ( const mrpt::obs::VelodyneCalibration & calib )

inline

Definition at line 314 of file CVelodyneScanner.h.

References m_velodyne_calib.

◆ setDeviceIP()

void mrpt::hwdrivers::CVelodyneScanner::setDeviceIP ( const std::string & ip )

inline

UDP packets from other IPs will be ignored.

Default: empty string, means do not filter by IP

Definition at line 288 of file CVelodyneScanner.h.

References m_device_ip.

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setFramePublishing()

void CVelodyneScanner::setFramePublishing ( bool on )

Switches whole frame (points in a single revolution) on/off publication to data packet publication.

When on, getNextObservation() will return true whenever a frame is avaliable, when off, getNextObservation() will return true whenever a data packet is avaliable. The default is on. When listening to data packets on a PCAP, pcap_read_fast is enforced.

Definition at line 1060 of file CVelodyneScanner.cpp.

References m_return_frames, MRPT_END, and MRPT_START.

◆ setLidarOnOff()

bool CVelodyneScanner::setLidarOnOff ( bool on )

Switches the LASER on/off (saves energy when not measuring) (via HTTP post interface).

Can be called at any instant, before or after initialize(). Requires setting a device IP address.

Returns: false on error

Definition at line 1051 of file CVelodyneScanner.cpp.

References mrpt::format(), internal_send_http_post(), MRPT_END, and MRPT_START.

Here is the call graph for this function:

◆ setLidarReturnType()

bool CVelodyneScanner::setLidarReturnType ( return_type_t ret_type )

Changes among STRONGEST, LAST, DUAL return types (via HTTP post interface).

Can be called at any instant, before or after initialize(). Requires setting a device IP address.

Returns: false on error

Definition at line 995 of file CVelodyneScanner.cpp.

References DUAL, mrpt::format(), internal_send_http_post(), LAST, MRPT_END, MRPT_START, STRONGEST, THROW_EXCEPTION, and UNCHANGED.

Referenced by initialize().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setLidarRPM()

bool CVelodyneScanner::setLidarRPM ( int rpm )

Changes Lidar RPM (valid range: 300-600) (via HTTP post interface).

Can be called at any instant, before or after initialize(). Requires setting a device IP address.

Returns: false on error

Definition at line 1031 of file CVelodyneScanner.cpp.

References mrpt::format(), internal_send_http_post(), MRPT_END, and MRPT_START.

Referenced by initialize().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setModelName()

void mrpt::hwdrivers::CVelodyneScanner::setModelName ( const model_t model )

inline

See supported model names in the general discussion docs for mrpt::hwdrivers::CVelodyneScanner.

Definition at line 264 of file CVelodyneScanner.h.

References m_model.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setPCAPInputFile()

void mrpt::hwdrivers::CVelodyneScanner::setPCAPInputFile ( const std::string & pcap_file )

inline

Enables reading from a PCAP file instead of live UDP packet listening.

Definition at line 293 of file CVelodyneScanner.h.

References m_pcap_input_file.

◆ setPCAPInputFileReadOnce()

void mrpt::hwdrivers::CVelodyneScanner::setPCAPInputFileReadOnce ( bool read_once )

inline

Definition at line 305 of file CVelodyneScanner.h.

References m_pcap_read_once.

◆ setPCAPOutputFile()

void mrpt::hwdrivers::CVelodyneScanner::setPCAPOutputFile ( const std::string & out_pcap_file )

inline

Enables dumping to a PCAP file in parallel to returning regular MRPT objects.

Default="": no pcap log.

Definition at line 300 of file CVelodyneScanner.h.

References m_pcap_output_file.

◆ setPCAPVerbosity()

void mrpt::hwdrivers::CVelodyneScanner::setPCAPVerbosity ( const bool verbose )

inline

Enables/disables PCAP info messages to console (default: true)

Definition at line 291 of file CVelodyneScanner.h.

References m_pcap_verbose, and verbose.

◆ setPosPacketsMinPeriod()

void mrpt::hwdrivers::CVelodyneScanner::setPosPacketsMinPeriod ( double period_seconds )

inline

Set the minimum period between the generation of mrpt::obs::CObservationGPS observations from Velodyne Position RMC GPS packets.

Definition at line 269 of file CVelodyneScanner.h.

References m_pos_packets_min_period.

◆ setPosPacketsTimingTimeout()

void mrpt::hwdrivers::CVelodyneScanner::setPosPacketsTimingTimeout ( double timeout )

inline

Set how long to wait, after loss of GPS signal, to report timestamps as "not based on satellite time".

30 secs, with typical velodyne clock drifts, means a ~1.7 ms typical drift.

Definition at line 277 of file CVelodyneScanner.h.

References m_pos_packets_timing_timeout.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

Member Data Documentation

◆ m_device_ip

std::string mrpt::hwdrivers::CVelodyneScanner::m_device_ip

protected

Default: "" (no IP-based filtering)

Definition at line 215 of file CVelodyneScanner.h.

Referenced by getDeviceIP(), initialize(), internal_send_http_post(), loadConfig_sensorSpecific(), receivePackets(), and setDeviceIP().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_hDataSock

platform_socket_t mrpt::hwdrivers::CVelodyneScanner::m_hDataSock

private

Definition at line 414 of file CVelodyneScanner.h.

Referenced by close(), initialize(), and receivePackets().

◆ m_hPositionSock

platform_socket_t mrpt::hwdrivers::CVelodyneScanner::m_hPositionSock

private

Definition at line 414 of file CVelodyneScanner.h.

Referenced by close(), initialize(), and receivePackets().

◆ m_initialized

bool mrpt::hwdrivers::CVelodyneScanner::m_initialized

protected

Definition at line 207 of file CVelodyneScanner.h.

Referenced by close(), getNextObservation(), and initialize().

◆ m_last_gps_rmc

mrpt::obs::gnss::Message_NMEA_RMC mrpt::hwdrivers::CVelodyneScanner::m_last_gps_rmc

private

Definition at line 428 of file CVelodyneScanner.h.

Referenced by getNextObservation().

◆ m_last_gps_rmc_age

mrpt::system::TTimeStamp mrpt::hwdrivers::CVelodyneScanner::m_last_gps_rmc_age

private

Definition at line 429 of file CVelodyneScanner.h.

Referenced by getNextObservation(), and initialize().

◆ m_last_pos_packet_timestamp

mrpt::system::TTimeStamp mrpt::hwdrivers::CVelodyneScanner::m_last_pos_packet_timestamp

protected

Definition at line 227 of file CVelodyneScanner.h.

Referenced by initialize(), and receivePackets().

◆ m_lidar_return

return_type_t mrpt::hwdrivers::CVelodyneScanner::m_lidar_return {UNCHANGED}

private

Definition at line 431 of file CVelodyneScanner.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_lidar_rpm

int mrpt::hwdrivers::CVelodyneScanner::m_lidar_rpm {0}

private

Definition at line 430 of file CVelodyneScanner.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_model

model_t mrpt::hwdrivers::CVelodyneScanner::m_model {CVelodyneScanner::VLP16}

protected

Default: "VLP16".

Definition at line 209 of file CVelodyneScanner.h.

Referenced by getModelName(), getNextObservation(), initialize(), loadConfig_sensorSpecific(), and setModelName().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_pcap

void* mrpt::hwdrivers::CVelodyneScanner::m_pcap {nullptr}

protected

opaque ptr: "pcap_t*"

Definition at line 231 of file CVelodyneScanner.h.

Referenced by close(), getNextObservation(), initialize(), internal_read_PCAP_packet(), and receivePackets().

◆ m_pcap_bpf_program

void* mrpt::hwdrivers::CVelodyneScanner::m_pcap_bpf_program {nullptr}

protected

opaque ptr: bpf_program*

Definition at line 237 of file CVelodyneScanner.h.

Referenced by CVelodyneScanner(), initialize(), internal_read_PCAP_packet(), and ~CVelodyneScanner().

◆ m_pcap_dumper

void* mrpt::hwdrivers::CVelodyneScanner::m_pcap_dumper {nullptr}

protected

opaque ptr: "pcap_dumper_t *"

Definition at line 235 of file CVelodyneScanner.h.

Referenced by close(), and receivePackets().

◆ m_pcap_file_empty

bool mrpt::hwdrivers::CVelodyneScanner::m_pcap_file_empty {true}

protected

Definition at line 238 of file CVelodyneScanner.h.

Referenced by initialize(), and internal_read_PCAP_packet().

◆ m_pcap_input_file

std::string mrpt::hwdrivers::CVelodyneScanner::m_pcap_input_file

protected

Default: "" (do not operate from an offline file)

Definition at line 221 of file CVelodyneScanner.h.

Referenced by getPCAPInputFile(), initialize(), internal_read_PCAP_packet(), loadConfig_sensorSpecific(), and setPCAPInputFile().

◆ m_pcap_out

void* mrpt::hwdrivers::CVelodyneScanner::m_pcap_out {nullptr}

protected

opaque ptr: "pcap_t*"

Definition at line 233 of file CVelodyneScanner.h.

Referenced by close(), and receivePackets().

◆ m_pcap_output_file

std::string mrpt::hwdrivers::CVelodyneScanner::m_pcap_output_file

protected

Default: "" (do not dump to an offline file)

Definition at line 223 of file CVelodyneScanner.h.

Referenced by getPCAPOutputFile(), loadConfig_sensorSpecific(), receivePackets(), and setPCAPOutputFile().

◆ m_pcap_read_count

unsigned int mrpt::hwdrivers::CVelodyneScanner::m_pcap_read_count

protected

number of pkts read from the file so far (for debugging)

Definition at line 240 of file CVelodyneScanner.h.

Referenced by initialize(), and internal_read_PCAP_packet().

◆ m_pcap_read_fast

bool mrpt::hwdrivers::CVelodyneScanner::m_pcap_read_fast {false}

protected

(Default: false) If false, will use m_pcap_read_full_scan_delay_ms

Definition at line 244 of file CVelodyneScanner.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_pcap_read_full_scan_delay_ms

double mrpt::hwdrivers::CVelodyneScanner::m_pcap_read_full_scan_delay_ms {100}

protected

(Default:100 ms) delay after each full scan read from a PCAP log

Definition at line 246 of file CVelodyneScanner.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_pcap_read_once

bool mrpt::hwdrivers::CVelodyneScanner::m_pcap_read_once {false}

protected

Default: false.

Definition at line 242 of file CVelodyneScanner.h.

Referenced by getPCAPInputFileReadOnce(), internal_read_PCAP_packet(), loadConfig_sensorSpecific(), and setPCAPInputFileReadOnce().

◆ m_pcap_repeat_delay

double mrpt::hwdrivers::CVelodyneScanner::m_pcap_repeat_delay {0.0}

protected

Default: 0 (in seconds)

Definition at line 248 of file CVelodyneScanner.h.

Referenced by internal_read_PCAP_packet(), and loadConfig_sensorSpecific().

◆ m_pcap_verbose

bool mrpt::hwdrivers::CVelodyneScanner::m_pcap_verbose {true}

protected

Default: true Output PCAP Info msgs.

Definition at line 219 of file CVelodyneScanner.h.

Referenced by initialize(), internal_read_PCAP_packet(), and setPCAPVerbosity().

◆ m_pos_packets_min_period

double mrpt::hwdrivers::CVelodyneScanner::m_pos_packets_min_period {0.5}

protected

Default: 0.5 seconds.

Definition at line 211 of file CVelodyneScanner.h.

Referenced by getPosPacketsMinPeriod(), loadConfig_sensorSpecific(), receivePackets(), and setPosPacketsMinPeriod().

◆ m_pos_packets_timing_timeout

double mrpt::hwdrivers::CVelodyneScanner::m_pos_packets_timing_timeout {30.0}

protected

Default: 30 seconds.

Definition at line 213 of file CVelodyneScanner.h.

Referenced by getNextObservation(), getPosPacketsTimingTimeout(), loadConfig_sensorSpecific(), and setPosPacketsTimingTimeout().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_return_frames

bool mrpt::hwdrivers::CVelodyneScanner::m_return_frames {true}

protected

Default: true Output whole frames and not data packets.

Definition at line 217 of file CVelodyneScanner.h.

Referenced by getNextObservation(), and setFramePublishing().

◆ m_rx_scan

mrpt::obs::CObservationVelodyneScan::Ptr mrpt::hwdrivers::CVelodyneScanner::m_rx_scan

private

In progress RX scan.

Definition at line 426 of file CVelodyneScanner.h.

Referenced by getNextObservation().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CVelodyneScanner::m_sensorPose

protected

Definition at line 224 of file CVelodyneScanner.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_velodyne_calib

mrpt::obs::VelodyneCalibration mrpt::hwdrivers::CVelodyneScanner::m_velodyne_calib

protected

Device calibration file (supplied by vendor in an XML file)

Definition at line 226 of file CVelodyneScanner.h.

Referenced by getCalibration(), getNextObservation(), initialize(), loadCalibrationFile(), and setCalibration().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ VELODYNE_DATA_UDP_PORT

short int CVelodyneScanner::VELODYNE_DATA_UDP_PORT = 2368

static

Default: 2368.

Change it if required.

Definition at line 170 of file CVelodyneScanner.h.

Referenced by initialize(), and internal_read_PCAP_packet().

◆ VELODYNE_POSITION_UDP_PORT

short int CVelodyneScanner::VELODYNE_POSITION_UDP_PORT = 8308

static

Default: 8308.

Change it if required.

Definition at line 172 of file CVelodyneScanner.h.

Referenced by initialize(), and internal_read_PCAP_packet().

Detailed Description

Grabbing live data (as a user)

Grabbing live data (programmatically)

Playing back a PCAP file:

Configuration and usage:

About timestamps:

Format of parameters for loading from a .ini file

Copyright notice

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Member Typedef Documentation

◆ model_properties_list_t

◆ platform_socket_t

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ model_t

◆ return_type_t

◆ TSensorState

Constructor & Destructor Documentation

◆ CVelodyneScanner()

◆ ~CVelodyneScanner()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getCalibration()

◆ getDeviceIP()

◆ getExternalImageJPEGQuality()

◆ getModelName()

◆ getNextObservation()

◆ getObservations()

◆ getPCAPInputFile()

◆ getPCAPInputFileReadOnce()

◆ getPCAPOutputFile()

◆ getPosPacketsMinPeriod()

◆ getPosPacketsTimingTimeout()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ internal_read_PCAP_packet()

◆ internal_receive_UDP_packet()

◆ internal_send_http_post()

◆ isVerboseEnabled()

◆ loadCalibrationFile()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ receivePackets()

◆ registerClass()

◆ setCalibration()

◆ setDeviceIP()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setFramePublishing()

◆ setLidarOnOff()

◆ setLidarReturnType()

◆ setLidarRPM()

◆ setModelName()

◆ setPathForExternalImages()

◆ setPCAPInputFile()

◆ setPCAPInputFileReadOnce()

◆ setPCAPOutputFile()

◆ setPCAPVerbosity()

◆ setPosPacketsMinPeriod()