39 #include "pcl/pcl_config.h"
41 #ifndef PCL_IO_VLP_GRABBER_H_
42 #define PCL_IO_VLP_GRABBER_H_
44 #include <pcl/io/hdl_grabber.h>
45 #include <pcl/io/grabber.h>
47 #include <pcl/point_cloud.h>
48 #include <boost/asio.hpp>
70 VLPGrabber (
const boost::asio::ip::address& ipAddress,
88 setLaserColorRGB (
const pcl::RGB& color,
89 const uint8_t laserNumber);
95 template<
typename IterT>
void
98 std::copy (begin, end, laser_rgb_mapping_);
104 getMaximumNumberOfLasers ()
const;
107 static const uint8_t VLP_MAX_NUM_LASERS = 16;
108 static const uint8_t VLP_DUAL_MODE = 0x39;
111 pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
116 boost::asio::ip::address
117 getDefaultNetworkAddress ();
120 initializeLaserMapping ();
123 loadVLP16Corrections ();