VelodyneCapture is the general capture class to retrieve the laser data from Velodyne sensors using Boost.Asio and PCAP
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sample getQueueSize is now thread safe Jun 15, 2018
LICENSE Initial commit Feb 15, 2017
README.md Update README Aug 24, 2017
VelodyneCapture.h getQueueSize is now thread safe Jun 15, 2018

README.md

VelodyneCapture

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. )

Environment

If direct capture from sensors, VelodyneCapture are requires Boost.Asio and its dependent libraries ( Boost.System, Boost.Date_Time, Boost.Regex ).
Please define HAVE_BOOST in preprocessor.

  • Boost.Asio

If capture from PCAP files, VelodyneCapture are requires PCAP.
Please define HAVE_PCAP in preprocessor.

  • libpcap ( or WinPCAP )

Sample

This repository has two sample programs.

  • simple
    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.

  • viewer
    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.

License

Copyright © 2017 Tsukasa SUGIURA
Distributed under the MIT License.

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