41 #include "pcl/pcl_config.h"
43 #include <pcl/io/hdl_grabber.h>
44 #include <pcl/io/grabber.h>
46 #include <pcl/point_cloud.h>
47 #include <boost/asio.hpp>
80 getName () const override;
87 setLaserColorRGB (const
pcl::
RGB& color,
88 const std::
uint8_t laserNumber);
94 template<typename IterT>
void
95 setLaserColorRGB (const IterT& begin, const IterT& end)
97 std::copy (begin, end, laser_rgb_mapping_);
110 pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
115 boost::asio::ip::address
116 getDefaultNetworkAddress ()
override;
119 initializeLaserMapping ();
122 loadVLP16Corrections ();
Grabber for the Velodyne High-Definition-Laser (HDL)
Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
VLPGrabber(const boost::asio::ip::address &ipAddress, const std::uint16_t port)
Constructor taking a specified IP/port.
~VLPGrabber() noexcept
virtual Destructor inherited from the Grabber interface.
std::uint8_t getMaximumNumberOfLasers() const override
Returns the maximum number of lasers.
VLPGrabber(const std::string &pcapFile="")
Constructor taking an optional path to an vlp corrections file.
Defines all the PCL implemented PointT point type structures.
A structure representing RGB color information.