vlp_grabber.h

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#include "pcl/pcl_config.h"

#ifndef PCL_IO_VLP_GRABBER_H_
#define PCL_IO_VLP_GRABBER_H_

#include <pcl/io/hdl_grabber.h>
#include <pcl/io/grabber.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <boost/asio.hpp>
#include <string>

namespace pcl
{

  /** \brief Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
   * \author Keven Ring <keven@mitre.org>
   * \ingroup io
   */
  class PCL_EXPORTS VLPGrabber : public HDLGrabber
  {
    public:
      /** \brief Constructor taking an optional path to an vlp corrections file.  The Grabber will listen on the default IP/port for data packets [192.168.3.255/2368]
       * \param[in] pcapFile Path to a file which contains previously captured data packets.  This parameter is optional
       */
      VLPGrabber (const std::string& pcapFile = "");

      /** \brief Constructor taking a specified IP/port
       * \param[in] ipAddress IP Address that should be used to listen for VLP packets
       * \param[in] port UDP Port that should be used to listen for VLP packets
       */
      VLPGrabber (const boost::asio::ip::address& ipAddress,
                  const unsigned short port);

      /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
      virtual
      ~VLPGrabber () throw ();

      /** \brief Obtains the name of this I/O Grabber
       *  \return The name of the grabber
       */
      virtual std::string
      getName () const;

    private:
      virtual void
      toPointClouds (HDLDataPacket *dataPacket);

      boost::asio::ip::address
      getDefaultNetworkAddress ();

      void
      loadVLP16Corrections ();

  };
}

#endif /* PCL_IO_VLP_GRABBER_H_ */