VelodyneCapture is the general capture class to retrieve the laser data from Velodyne sensors using Boost.Asio and PCAP.
VelodyneCapture will be able to retrieve lasers infomation about azimuth, vertical and distance that capture at one rotation.
This class supports direct capture form Velodyne sensors, or capture from PCAP files.
( This class only supports VLP-16 and HDL-32E sensor, and not supports Dual Return mode. )
If direct capture from sensors, VelodyneCapture are requires Boost.Asio and its dependent libraries ( Boost.System, Boost.Date_Time, Boost.Regex ).
HAVE_BOOST in preprocessor.
If capture from PCAP files, VelodyneCapture are requires PCAP.
HAVE_PCAP in preprocessor.
- libpcap ( or WinPCAP )
This repository has two sample programs.
This sample program is displayed data on standard output.
This sample program depends on dependent libraries ( Boost.Asio or libpcap ( or WinPCAP ) ) of VelodyneCapture class.
This sample program is displayed data on point cloud.
This sample program depends on OpenCV Viz module in addition to dependent libraries ( Boost.Asio or libpcap ( or WinPCAP ) ) of VelodyneCapture class.
Copyright © 2017 Tsukasa SUGIURA
Distributed under the MIT License.