├── tests
    ├── test_PacketDriver.cpp
    ├── test_PacketWriter.cpp
    ├── test_PacketDecoder.cpp
    ├── test_PacketBundler.cpp
    └── test_PacketBundleDecoder.cpp
├── PacketDriver.h
├── PacketBundler.h
├── LICENSE
├── CMakeLists.txt
├── PacketBundleDecoder.h
├── README.md
├── PacketBundler.cpp
├── scripts
    └── rosbag_to_pcap.py
├── PacketDecoder.h
├── PacketDriver.cpp
├── PacketFileSender.cxx
├── PacketFileReader.h
├── PacketFileWriter.h
├── PacketDecoder.cpp
├── PacketBundleDecoder.cpp
├── 16db.xml
└── 32db.xml


/tests/test_PacketDriver.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <stdlib.h>
 4 | #include "PacketDriver.h"
 5 | #include <boost/shared_ptr.hpp>
 6 | 
 7 | using namespace std;
 8 | 
 9 | int main()
10 | {
11 |   PacketDriver driver(DATA_PORT);
12 | 
13 |   std::string* data = new std::string();
14 |   unsigned int* dataLength = new unsigned int();
15 |   while (true) {
16 |     driver.GetPacket(data, dataLength);
17 |     std::cout << "Length of packet: " << (*data).length() << std::endl;
18 |   }
19 | 
20 |   return 0;
21 | }
22 | 


--------------------------------------------------------------------------------
/tests/test_PacketWriter.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <stdlib.h>
 4 | #include "PacketDriver.h"
 5 | #include "PacketFileWriter.h"
 6 | #include <boost/shared_ptr.hpp>
 7 | 
 8 | using namespace std;
 9 | 
10 | int main()
11 | {
12 |   PacketDriver driver;
13 |   driver.InitPacketDriver(DATA_PORT);
14 |   vtkPacketFileWriter writer;
15 |   if (!writer.Open("./test.pcap")) {
16 |     std::cerr << "Could not open pcap file to write" << std::endl;
17 |   }
18 | 
19 |   std::string* data = new std::string();
20 |   unsigned int* dataLength = new unsigned int();
21 |   while (true) {
22 |     driver.GetPacket(data, dataLength);
23 |     std::cout << "Length of packet: " << (*data).length() << std::endl;
24 |     writer.WritePacket(reinterpret_cast<const unsigned char*>(data->c_str()), data->length());
25 |   }
26 | 
27 |   return 0;
28 | }
29 | 


--------------------------------------------------------------------------------
/tests/test_PacketDecoder.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <stdlib.h>
 4 | #include "PacketDriver.h"
 5 | #include "PacketDecoder.h"
 6 | #include <boost/shared_ptr.hpp>
 7 | #include<deque>
 8 | 
 9 | using namespace std;
10 | 
11 | int main()
12 | {
13 |   PacketDriver driver;
14 |   driver.InitPacketDriver(DATA_PORT);
15 |   PacketDecoder decoder;
16 |   decoder.SetCorrectionsFile("../32db.xml");
17 | 
18 |   std::string* data = new std::string();
19 |   unsigned int* dataLength = new unsigned int();
20 |   std::deque<PacketDecoder::HDLFrame> frames;
21 |   PacketDecoder::HDLFrame latest_frame;
22 |   while (true) {
23 |     driver.GetPacket(data, dataLength);
24 |     decoder.DecodePacket(data, dataLength);
25 |     frames = decoder.GetFrames();
26 |     if (decoder.GetLatestFrame(&latest_frame)) {
27 |       std::cout << "Number of points: " << latest_frame.x.size() << std::endl;
28 |     }
29 |   }
30 | 
31 |   return 0;
32 | }
33 | 


--------------------------------------------------------------------------------
/PacketDriver.h:
--------------------------------------------------------------------------------
 1 | // Velodyne HDL Packet Driver
 2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
 3 | // shared library to read a Velodyne HDL packet streaming over UDP
 4 | 
 5 | #ifndef PACKET_DRIVER_H_INCLUDED
 6 | #define PACKET_DRIVER_H_INCLUDED
 7 | 
 8 | #include <boost/asio.hpp>
 9 | 
10 | static unsigned int DATA_PORT = 2368;
11 | 
12 | class PacketDriver
13 | {
14 | public:
15 |   PacketDriver();
16 |   PacketDriver(unsigned int port);
17 |   virtual ~PacketDriver();
18 |   void InitPacketDriver(unsigned int port);
19 |   bool GetPacket(std::string* data, unsigned int* data_length);
20 | 
21 | protected:
22 |   void GetPacketCallback(const boost::system::error_code& error, std::size_t num_bytes, std::string* data, unsigned int* data_length);
23 | 
24 | private:
25 |   unsigned int _port;
26 |   char _rx_buffer[1500];
27 |   boost::asio::io_service _io_service;
28 |   boost::shared_ptr<boost::asio::ip::udp::socket> _socket;
29 | };
30 | 
31 | #endif // PACKET_DRIVER_H_INCLUDED
32 | 


--------------------------------------------------------------------------------
/tests/test_PacketBundler.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <stdlib.h>
 4 | #include "PacketDriver.h"
 5 | #include "PacketBundler.h"
 6 | #include <boost/shared_ptr.hpp>
 7 | #include<deque>
 8 | 
 9 | using namespace std;
10 | 
11 | int main()
12 | {
13 |   PacketDriver driver;
14 |   driver.InitPacketDriver(DATA_PORT);
15 |   PacketBundler bundler;
16 | 
17 |   std::string* data = new std::string();
18 |   unsigned int* dataLength = new unsigned int();
19 |   std::deque<std::string> bundles;
20 |   std::string latest_bundle;
21 |   unsigned int latest_bundle_length;
22 |   while (true) {
23 |     driver.GetPacket(data, dataLength);
24 |     bundler.BundlePacket(data, dataLength);
25 |     bundles = bundler.GetBundles();
26 |     if (bundler.GetLatestBundle(&latest_bundle, &latest_bundle_length)) {
27 |       std::cout << "Bundle length: " << latest_bundle_length << std::endl;
28 |       std::cout << "Bundle number of packets: " << (latest_bundle_length/1206) << std::endl;
29 |     }
30 |   }
31 | 
32 |   return 0;
33 | }
34 | 


--------------------------------------------------------------------------------
/PacketBundler.h:
--------------------------------------------------------------------------------
 1 | // Velodyne HDL Packet Bundler
 2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
 3 | // shared library to bundle velodyne packets into enough for a single frame
 4 | 
 5 | #ifndef PACKET_BUNDLER_H_INCLUDED
 6 | #define PACKET_BUNDLER_H_INCLUDED
 7 | 
 8 | #include <string>
 9 | #include <deque>
10 | #include "PacketDecoder.h"
11 | 
12 | class PacketBundler
13 | {
14 | public:
15 |   PacketBundler();
16 |   virtual ~PacketBundler();
17 |   void SetMaxNumberOfBundles(unsigned int max_num_of_bundles);
18 |   void BundlePacket(std::string* data, unsigned int* data_length);
19 |   std::deque<std::string> GetBundles();
20 |   void ClearBundles();
21 |   bool GetLatestBundle(std::string* bundle, unsigned int* bundle_length);
22 | 
23 | protected:
24 |   void UnloadData();
25 |   void BundleHDLPacket(unsigned char *data, unsigned int data_length);
26 |   void SplitBundle();
27 | 
28 | private:
29 |   unsigned int _last_azimuth;
30 |   unsigned int _max_num_of_bundles;
31 |   std::string* _bundle;
32 |   std::deque<std::string> _bundles;
33 | };
34 | 
35 | #endif // PACKET_BUNDLER_H_INCLUDED
36 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2017 Nick R. Rypkema
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/tests/test_PacketBundleDecoder.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <stdlib.h>
 4 | #include "PacketDriver.h"
 5 | #include "PacketBundler.h"
 6 | #include "PacketBundleDecoder.h"
 7 | #include <boost/shared_ptr.hpp>
 8 | #include<deque>
 9 | 
10 | using namespace std;
11 | 
12 | int main()
13 | {
14 |   PacketDriver driver;
15 |   driver.InitPacketDriver(DATA_PORT);
16 |   PacketBundler bundler;
17 |   PacketBundleDecoder bundleDecoder;
18 | 
19 |   std::string* data = new std::string();
20 |   unsigned int* dataLength = new unsigned int();
21 |   std::deque<std::string> bundles;
22 |   std::string latest_bundle;
23 |   unsigned int latest_bundle_length;
24 |   PacketBundleDecoder::HDLFrame latest_frame;
25 |   while (true) {
26 |     driver.GetPacket(data, dataLength);
27 |     bundler.BundlePacket(data, dataLength);
28 |     bundles = bundler.GetBundles();
29 |     if (bundler.GetLatestBundle(&latest_bundle, &latest_bundle_length)) {
30 |       std::cout << "Bundle length: " << latest_bundle_length << std::endl;
31 |       std::cout << "Bundle number of packets: " << (latest_bundle_length/1206) << std::endl;
32 |       bundleDecoder.DecodeBundle(&latest_bundle, &latest_bundle_length);
33 |       if (bundleDecoder.GetLatestFrame(&latest_frame)) {
34 |         std::cout << "Number of points: " << latest_frame.x.size() << std::endl;
35 |       }
36 |     }
37 |   }
38 | 
39 |   return 0;
40 | }
41 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.7)
 2 | 
 3 | # VelodyneHDL Driver
 4 | project(VelodyneHDL)
 5 | 
 6 | include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 7 | 
 8 | add_library(PacketDriver SHARED PacketDriver.cpp)
 9 | target_link_libraries(PacketDriver
10 |   boost_system
11 | )
12 | 
13 | add_library(PacketDecoder SHARED PacketDecoder.cpp)
14 | target_link_libraries(PacketDecoder
15 | )
16 | 
17 | add_library(PacketBundler SHARED PacketBundler.cpp)
18 | target_link_libraries(PacketBundler
19 | )
20 | 
21 | add_library(PacketBundleDecoder SHARED PacketBundleDecoder.cpp)
22 | target_link_libraries(PacketBundleDecoder
23 | )
24 | 
25 | add_executable(test_PacketDriver tests/test_PacketDriver.cpp)
26 | target_link_libraries(test_PacketDriver
27 |   PacketDriver
28 |   pcap
29 | )
30 | 
31 | add_executable(test_PacketDecoder tests/test_PacketDecoder.cpp)
32 | target_link_libraries(test_PacketDecoder
33 |   PacketDriver
34 |   PacketDecoder
35 |   pcap
36 | )
37 | 
38 | add_executable(test_PacketWriter tests/test_PacketWriter.cpp)
39 | target_link_libraries(test_PacketWriter
40 |   PacketDriver
41 |   pcap
42 | )
43 | 
44 | add_executable(test_PacketBundler tests/test_PacketBundler.cpp)
45 | target_link_libraries(test_PacketBundler
46 |   PacketDriver
47 |   PacketBundler
48 | )
49 | 
50 | add_executable(test_PacketBundleDecoder tests/test_PacketBundleDecoder.cpp)
51 | target_link_libraries(test_PacketBundleDecoder
52 |   PacketDriver
53 |   PacketBundler
54 |   PacketBundleDecoder
55 | )
56 | 
57 | add_executable(PacketFileSender PacketFileSender.cxx)
58 | target_link_libraries(PacketFileSender
59 |   boost_system
60 |   boost_thread
61 |   pcap
62 | )
63 | 


--------------------------------------------------------------------------------
/PacketBundleDecoder.h:
--------------------------------------------------------------------------------
 1 | // Velodyne HDL Packet Bundle Decoder
 2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
 3 | // shared library to decode a bundle of velodyne packets
 4 | 
 5 | #ifndef PACKET_BUNDLE_DECODER_H_INCLUDED
 6 | #define PACKET_BUNDLE_DECODER_H_INCLUDED
 7 | 
 8 | #include <string>
 9 | #include <vector>
10 | #include <deque>
11 | #include "PacketDecoder.h"
12 | 
13 | class PacketBundleDecoder
14 | {
15 | public:
16 |   struct HDLFrame
17 |   {
18 |     std::vector<double> x;
19 |     std::vector<double> y;
20 |     std::vector<double> z;
21 |     std::vector<unsigned char> intensity;
22 |     std::vector<unsigned char> laser_id;
23 |     std::vector<unsigned short> azimuth;
24 |     std::vector<double> distance;
25 |     std::vector<unsigned int> ms_from_top_of_hour;
26 |   };
27 | 
28 | public:
29 |   PacketBundleDecoder();
30 |   virtual ~PacketBundleDecoder();
31 |   void SetMaxNumberOfFrames(unsigned int max_num_of_frames);
32 |   void DecodeBundle(std::string* bundle, unsigned int* bundle_length);
33 |   void SetCorrectionsFile(const std::string& corrections_file);
34 |   std::deque<HDLFrame> GetFrames();
35 |   void ClearFrames();
36 |   bool GetLatestFrame(HDLFrame* frame);
37 | 
38 | protected:
39 |   void UnloadData();
40 |   void InitTables();
41 |   void LoadCorrectionsFile(const std::string& correctionsFile);
42 |   void LoadHDL32Corrections();
43 |   void SetCorrectionsCommon();
44 |   void ProcessHDLPacket(unsigned char *data, unsigned int data_length);
45 |   void PushFiringData(unsigned char laserId, unsigned short azimuth, unsigned int timestamp, HDLLaserReturn laserReturn, HDLLaserCorrection correction);
46 | 
47 | private:
48 |   std::string _corrections_file;
49 |   unsigned int _max_num_of_frames;
50 |   HDLFrame* _frame;
51 |   std::deque<HDLFrame> _frames;
52 | };
53 | 
54 | #endif // PACKET_BUNDLE_DECODER_H_INCLUDED
55 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # VelodyneHDL
 2 | 
 3 | ### A minimal driver for Velodyne HDL-32E/64E VLP-16 lidars
 4 | Most Velodyne lidar drivers are needlessly complex, or specifically written for a particular middleware (e.g. ROS). This repo contains minimal, lightweight code to build shared libraries to interface to and decode packets from the Velodyne HDL (and VLP-16) family of lidars.
 5 | 
 6 | #### Contains
 7 |  - PacketDriver: builds to PacketDriver.so, a library to read (via boost::asio) Velodyne packets streamed to UDP port 2368.
 8 |  - PacketDecoder: builds to PacketDecoder.so, a library to decode (convert to x, y, z, intensity, etc.) Velodyne packets.
 9 |  - PacketFileSender: builds to PacketFileSender, an executable to stream packets from a pcap file to UDP port 2368 (slightly modified code from VTK)
10 |  - PacketFileReader: a header file to read packets from a pcap file (code from VTK)
11 |  - PacketFileWriter: a header file to write packets to a pcap file (code from VTK)
12 |  - PacketBundler: builds to PacketBundler.so, a library to bundle streamed Velodyne packets into enough for a frame (a full 360 degree sweep) - useful if your middleware cannot handle the rate of Velodyne packet streaming (~1.8kHz)
13 |  - PacketBundleDecoder: bulds to PacketBundleDecoder.so, a library to decode a bundle of Velodyne packets
14 |  
15 | #### Example Usage
16 | Under the tests directory you can find example code on how to use the PacketDriver and PacketDecoder libraries, as well as the PacketFileWriter header.
17 | 
18 | #### Dependencies  
19 | 
20 | ###### PCAP Library:
21 | > sudo apt-get install libpcap-dev  
22 | 
23 | ###### Boost Libraries:
24 | > sudo apt-get install libboost-all-dev  
25 | 
26 | #### Build  
27 | 
28 | ###### Building:
29 | > mkdir build  
30 | > cd build  
31 | > cmake ..  
32 | > make
33 | 
34 | ###### Add To .bashrc:
35 | > export PATH="PATH:/..../path/to/build  
36 | > export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/..../path/to/build"  
37 | > export LIBRARY_PATH="$LIBRARY_PATH:/..../path/to/build"  
38 | > export CPLUS_INCLUDE_PATH="$CPLUS_INCLUDE_PATH:/..../path/to/source"
39 | 
40 | #### Usage  
41 | 
42 | ###### Streaming PCAP File:
43 | > PacketFileSender pcap_file.pcap  
44 | 
45 | ###### Interfacing to Velodyne:
46 | > test_PacketDriver
47 | 
48 | ###### Interfacing to Velodyne and Decoding Packets:
49 | > test_PacketDecoder
50 | 
51 | ###### Interfacing to Velodyne and Writing Packets to pcap File:
52 | > test_PacketWriter
53 | 
54 | ###### Interfacing to Velodyne and Bundling Packets:
55 | > test_PacketBundler
56 | 
57 | ###### Interfacing to Velodyne, Bundling Packets and Decoding Packet Bundles:
58 | > test_PacketBundleDecoder
59 | 


--------------------------------------------------------------------------------
/PacketBundler.cpp:
--------------------------------------------------------------------------------
  1 | // Velodyne HDL Packet Bundler
  2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
  3 | // shared library to bundle velodyne packets into enough for a single frame
  4 | 
  5 | #include <cmath>
  6 | #include <stdint.h>
  7 | #include <iostream>
  8 | 
  9 | #include "PacketBundler.h"
 10 | 
 11 | PacketBundler::PacketBundler()
 12 | {
 13 |   _max_num_of_bundles = 10;
 14 |   UnloadData();
 15 | }
 16 | 
 17 | PacketBundler::~PacketBundler()
 18 | {
 19 | 
 20 | }
 21 | 
 22 | void PacketBundler::SetMaxNumberOfBundles(unsigned int max_num_of_bundles)
 23 | {
 24 | 
 25 |   if (max_num_of_bundles <= 0) {
 26 |     return;
 27 |   } else {
 28 |     _max_num_of_bundles = max_num_of_bundles;
 29 |   }
 30 |   while (_bundles.size() >= _max_num_of_bundles) {
 31 |     _bundles.pop_front();
 32 |   }
 33 | }
 34 | 
 35 | void PacketBundler::BundlePacket(std::string* data, unsigned int* data_length)
 36 | {
 37 |   const unsigned char* data_char = reinterpret_cast<const unsigned char*>(data->c_str());
 38 |   BundleHDLPacket(const_cast<unsigned char*>(data_char), *data_length);
 39 | }
 40 | 
 41 | void PacketBundler::BundleHDLPacket(unsigned char *data, unsigned int data_length)
 42 | {
 43 |   if (data_length != 1206) {
 44 |     std::cout << "PacketBundler: Warning, data packet is not 1206 bytes" << std::endl;
 45 |     return;
 46 |   }
 47 | 
 48 |   HDLDataPacket* dataPacket = reinterpret_cast<HDLDataPacket *>(data);
 49 | 
 50 |   for (int i = 0; i < HDL_FIRING_PER_PKT; ++i) {
 51 |     HDLFiringData firingData = dataPacket->firingData[i];
 52 | 
 53 |     if (firingData.rotationalPosition < _last_azimuth) {
 54 |       SplitBundle();
 55 |     }
 56 | 
 57 |     _last_azimuth = firingData.rotationalPosition;
 58 |   }
 59 | 
 60 |   _bundle->append(reinterpret_cast<const char*>(data), (size_t)data_length);
 61 | }
 62 | 
 63 | void PacketBundler::SplitBundle()
 64 | {
 65 |   if (_bundles.size() == _max_num_of_bundles-1) {
 66 |     _bundles.pop_front();
 67 |   }
 68 |   _bundles.push_back(*_bundle);
 69 |   delete _bundle;
 70 |   _bundle = new std::string();
 71 | }
 72 | 
 73 | void PacketBundler::UnloadData()
 74 | {
 75 |   _last_azimuth = 0;
 76 |   _bundle = new std::string();
 77 |   _bundles.clear();
 78 | }
 79 | 
 80 | std::deque<std::string> PacketBundler::GetBundles()
 81 | {
 82 |   return _bundles;
 83 | }
 84 | 
 85 | void PacketBundler::ClearBundles()
 86 | {
 87 |   _bundles.clear();
 88 | }
 89 | 
 90 | bool PacketBundler::GetLatestBundle(std::string* bundle, unsigned int* bundle_length)
 91 | {
 92 |   if (_bundles.size()) {
 93 |     *bundle = _bundles.back();
 94 |     *bundle_length = bundle->size();
 95 |     _bundles.clear();
 96 |     return(true);
 97 |   }
 98 |   return(false);
 99 | }
100 | 


--------------------------------------------------------------------------------
/scripts/rosbag_to_pcap.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | from __future__ import print_function
 3 | import sys
 4 | import rospy
 5 | from velodyne_msgs.msg import VelodyneScan
 6 | import signal
 7 | import binascii
 8 | 
 9 | '''
10 | Script to convert ROS bag Velodyne data to .pcap format. Usage:
11 | Terminal 1: > roscore
12 | Terminal 2: > python3 rosbag_to_pcap.py velodyne_packets outfile.pcap
13 | Terminal 3: > rosbag play infile.bag
14 | Use ctrl+c to end conversion when desired.
15 | '''
16 | 
17 | #Global header for pcap 2.4
18 | #pcap format: https://wiki.wireshark.org/Development/LibpcapFileFormat
19 | #pcap global heaeder = 0x + d4c3b2a1 (magic_number) + 0200 (version_major) + 0400 (version_minor) + 00000000 (thiszone) + 00000000 (sigfigs) + ffff0000 (snaplen) + 01000000 (network)
20 | global_header =  'd4c3b2a1020004000000000000000000ffff000001000000'                                     # 24 bytes = 48 characters (once at file start)
21 | #pcap packet header = 0x + ffffffff (ts_sec) + ffffffff (ts_nsec) + 00000000 (incl_len) + 00000000 (orig_len)
22 | packet_header = 'f540e051872a0100e0040000e0040000'                                                      # 16 bytes = 32 characters (once at start of every packet)
23 | # Velodyne UDP header
24 | udp_header = 'ffffffffffff60768820118c0800450004d200004000ff11b4a9c0a801c9ffffffff0940094004be0000'     # 42 bytes = 84 characters (once at start of every packet)
25 | 
26 | bitout = None
27 | total_packets = 0
28 | 
29 | def init(filename):
30 |     global global_header
31 |     global bitout
32 | 
33 |     bitout = open(filename, 'wb')
34 |     bytes = binascii.a2b_hex(global_header)
35 |     bitout.write(bytes)
36 | 
37 | def signal_handler(sig, frame):
38 |     global global_header
39 |     global bitout
40 | 
41 |     bitout.close()
42 |     sys.exit(0)
43 | 
44 | signal.signal(signal.SIGINT, signal_handler)
45 | 
46 | def callback(ros_data):
47 |     global packet_header
48 |     global udp_header
49 |     global bitout
50 |     global total_packets
51 | 
52 |     udp_packets = ''
53 | 
54 |     num_packets = len(ros_data.packets)
55 |     for i in range(0, num_packets):         # keep adding packet header, udp header and data
56 |         packet_secs = ros_data.packets[i].stamp.secs
57 |         hex_secs = format(packet_secs, '08x')
58 |         packet_nsecs = ros_data.packets[i].stamp.nsecs
59 |         hex_nsecs = format(packet_nsecs, '08x')
60 |         hexdata = binascii.hexlify(ros_data.packets[i].data)
61 |         new_data = hex_secs + hex_nsecs + packet_header[16:]
62 |         new_data += udp_header
63 |         new_data += hexdata.decode('ascii')
64 |         udp_packets += new_data
65 | 
66 |         total_packets += 1
67 |     print('Wrote ' + str(total_packets) + ' packets.')
68 | 
69 |     bytes = binascii.a2b_hex(udp_packets)
70 |     bitout.write(bytes)
71 | 
72 | def listener(topic):
73 |     print('Subscribing to ' + str(topic) + '.')
74 |     rospy.init_node('bag_to_pcap', anonymous=True)
75 |     rospy.Subscriber(topic, VelodyneScan, callback)
76 |     rospy.spin()
77 | 
78 | if __name__ == '__main__':
79 |     if len(sys.argv) < 3:
80 |         print('python rosbag_to_pcap.py subscribing_topic outfilename.pcap')
81 |     topic = sys.argv[1]
82 |     filename = sys.argv[2]
83 |     init(filename)
84 |     listener(topic)
85 | 


--------------------------------------------------------------------------------
/PacketDecoder.h:
--------------------------------------------------------------------------------
  1 | // Velodyne HDL Packet Decoder
  2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
  3 | // shared library to decode a Velodyne packet
  4 | 
  5 | #ifndef PACKET_DECODER_H_INCLUDED
  6 | #define PACKET_DECODER_H_INCLUDED
  7 | 
  8 | #include <string>
  9 | #include <vector>
 10 | #include <deque>
 11 | 
 12 | namespace
 13 | {
 14 | #define HDL_Grabber_toRadians(x) ((x) * M_PI / 180.0)
 15 | 
 16 | const int HDL_NUM_ROT_ANGLES = 36001;
 17 | const int HDL_LASER_PER_FIRING = 32;
 18 | const int HDL_MAX_NUM_LASERS = 64;
 19 | const int HDL_FIRING_PER_PKT = 12;
 20 | 
 21 | enum HDLBlock
 22 | {
 23 |   BLOCK_0_TO_31 = 0xeeff,
 24 |   BLOCK_32_TO_63 = 0xddff
 25 | };
 26 | 
 27 | #pragma pack(push, 1)
 28 | typedef struct HDLLaserReturn
 29 | {
 30 |   unsigned short distance;
 31 |   unsigned char intensity;
 32 | } HDLLaserReturn;
 33 | #pragma pack(pop)
 34 | 
 35 | struct HDLFiringData
 36 | {
 37 |   unsigned short blockIdentifier;
 38 |   unsigned short rotationalPosition;
 39 |   HDLLaserReturn laserReturns[HDL_LASER_PER_FIRING];
 40 | };
 41 | 
 42 | struct HDLDataPacket
 43 | {
 44 |   HDLFiringData firingData[HDL_FIRING_PER_PKT];
 45 |   unsigned int gpsTimestamp;
 46 |   unsigned char blank1;
 47 |   unsigned char blank2;
 48 | };
 49 | 
 50 | struct HDLLaserCorrection
 51 | {
 52 |   double azimuthCorrection;
 53 |   double verticalCorrection;
 54 |   double distanceCorrection;
 55 |   double verticalOffsetCorrection;
 56 |   double horizontalOffsetCorrection;
 57 |   double sinVertCorrection;
 58 |   double cosVertCorrection;
 59 |   double sinVertOffsetCorrection;
 60 |   double cosVertOffsetCorrection;
 61 | };
 62 | 
 63 | struct HDLRGB
 64 | {
 65 |   uint8_t r;
 66 |   uint8_t g;
 67 |   uint8_t b;
 68 | };
 69 | 
 70 | double *cos_lookup_table_;
 71 | double *sin_lookup_table_;
 72 | HDLLaserCorrection laser_corrections_[HDL_MAX_NUM_LASERS];
 73 | }
 74 | 
 75 | class PacketDecoder
 76 | {
 77 | public:
 78 |   struct HDLFrame
 79 |   {
 80 |     std::vector<double> x;
 81 |     std::vector<double> y;
 82 |     std::vector<double> z;
 83 |     std::vector<unsigned char> intensity;
 84 |     std::vector<unsigned char> laser_id;
 85 |     std::vector<unsigned short> azimuth;
 86 |     std::vector<double> distance;
 87 |     std::vector<unsigned int> ms_from_top_of_hour;
 88 |   };
 89 | 
 90 | public:
 91 |   PacketDecoder();
 92 |   virtual ~PacketDecoder();
 93 |   void SetMaxNumberOfFrames(unsigned int max_num_of_frames);
 94 |   void DecodePacket(std::string* data, unsigned int* data_length);
 95 |   void SetCorrectionsFile(const std::string& corrections_file);
 96 |   std::deque<HDLFrame> GetFrames();
 97 |   void ClearFrames();
 98 |   bool GetLatestFrame(HDLFrame* frame);
 99 | 
100 | protected:
101 |   void UnloadData();
102 |   void InitTables();
103 |   void LoadCorrectionsFile(const std::string& correctionsFile);
104 |   void LoadHDL32Corrections();
105 |   void SetCorrectionsCommon();
106 |   void ProcessHDLPacket(unsigned char *data, unsigned int data_length);
107 |   void SplitFrame();
108 |   void PushFiringData(unsigned char laserId, unsigned short azimuth, unsigned int timestamp, HDLLaserReturn laserReturn, HDLLaserCorrection correction);
109 | 
110 | private:
111 |   std::string _corrections_file;
112 |   unsigned int _last_azimuth;
113 |   unsigned int _max_num_of_frames;
114 |   HDLFrame* _frame;
115 |   std::deque<HDLFrame> _frames;
116 | };
117 | 
118 | #endif // PACKET_DECODER_H_INCLUDED
119 | 


--------------------------------------------------------------------------------
/PacketDriver.cpp:
--------------------------------------------------------------------------------
 1 | // Velodyne HDL Packet Driver
 2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
 3 | // shared library to read a Velodyne HDL packet streaming over UDP
 4 | 
 5 | #include <iostream>
 6 | 
 7 | #include "PacketDriver.h"
 8 | #include <boost/bind.hpp>
 9 | 
10 | using boost::asio::ip::udp;
11 | 
12 | PacketDriver::PacketDriver()
13 | {
14 | 
15 | }
16 | 
17 | PacketDriver::PacketDriver(unsigned int port) : _port(port)
18 | {
19 |   boost::asio::ip::udp::endpoint destination_endpoint(boost::asio::ip::address_v4::any(), _port);
20 | 
21 |   try {
22 |     _socket = boost::shared_ptr<boost::asio::ip::udp::socket>(new boost::asio::ip::udp::socket(_io_service));
23 |     _socket->open(destination_endpoint.protocol());
24 |     _socket->bind(destination_endpoint);
25 |   } catch(std::exception & e) {
26 |     std::cout << "PacketDriver: Error binding to socket - " << e.what() << ". Trying once more..." << std::endl;
27 |     try {
28 |       destination_endpoint = boost::asio::ip::udp::endpoint(boost::asio::ip::address_v4::any(), _port);
29 |       _socket = boost::shared_ptr<boost::asio::ip::udp::socket>(new boost::asio::ip::udp::socket(_io_service));
30 |       _socket->open(destination_endpoint.protocol());
31 |       _socket->bind(destination_endpoint);
32 |     } catch(std::exception & e) {
33 |       std::cout << "PacketDriver: Error binding to socket - " << e.what() << ". Failed!" << std::endl;
34 |       return;
35 |     }
36 |   }
37 | 
38 |   std::cout << "PacketDriver: Success binding to Velodyne socket!" << std::endl;
39 |   return;
40 | }
41 | 
42 | PacketDriver::~PacketDriver()
43 | {
44 |   _socket->close();
45 |   _io_service.stop();
46 | }
47 | 
48 | void PacketDriver::InitPacketDriver(unsigned int port)
49 | {
50 |   _port = port;
51 | 
52 |   boost::asio::ip::udp::endpoint destination_endpoint(boost::asio::ip::address_v4::any(), _port);
53 | 
54 |   try {
55 |     _socket = boost::shared_ptr<boost::asio::ip::udp::socket>(new boost::asio::ip::udp::socket(_io_service));
56 |     _socket->open(destination_endpoint.protocol());
57 |     _socket->bind(destination_endpoint);
58 |   } catch(std::exception & e) {
59 |     std::cout << "PacketDriver: Error binding to socket - " << e.what() << ". Trying once more..." << std::endl;
60 |     try {
61 |       destination_endpoint = boost::asio::ip::udp::endpoint(boost::asio::ip::address_v4::any(), _port);
62 |       _socket = boost::shared_ptr<boost::asio::ip::udp::socket>(new boost::asio::ip::udp::socket(_io_service));
63 |       _socket->open(destination_endpoint.protocol());
64 |       _socket->bind(destination_endpoint);
65 |     } catch(std::exception & e) {
66 |       std::cout << "PacketDriver: Error binding to socket - " << e.what() << ". Failed!" << std::endl;
67 |       return;
68 |     }
69 |   }
70 | 
71 |   std::cout << "PacketDriver: Success binding to Velodyne socket!" << std::endl;
72 |   return;
73 | }
74 | 
75 | bool PacketDriver::GetPacket(std::string* data, unsigned int* data_length)
76 | {
77 |   try {
78 |     _socket->async_receive(boost::asio::buffer(_rx_buffer, 1500),
79 |     boost::bind(&PacketDriver::GetPacketCallback, this, boost::asio::placeholders::error, boost::asio::placeholders::bytes_transferred, data, data_length));
80 |     _io_service.reset();
81 |     _io_service.run();
82 |     return (true);
83 |   } catch(std::exception & e) {
84 |     std::cout << "PacketDriver: Error receiving packet - " << e.what() << "." << std::endl;
85 |     return(false);
86 |   }
87 | }
88 | 
89 | void PacketDriver::GetPacketCallback(const boost::system::error_code& error, std::size_t num_bytes, std::string* data, unsigned int* data_length)
90 | {
91 |   (*data).assign(_rx_buffer, num_bytes);
92 |   *data_length = (unsigned int) num_bytes;
93 |   return;
94 | }
95 | 
96 | 


--------------------------------------------------------------------------------
/PacketFileSender.cxx:
--------------------------------------------------------------------------------
  1 | // Copyright 2013 Velodyne Acoustics, Inc.
  2 | //
  3 | // Licensed under the Apache License, Version 2.0 (the "License");
  4 | // you may not use this file except in compliance with the License.
  5 | // You may obtain a copy of the License at
  6 | //
  7 | //     http://www.apache.org/licenses/LICENSE-2.0
  8 | //
  9 | // Unless required by applicable law or agreed to in writing, software
 10 | // distributed under the License is distributed on an "AS IS" BASIS,
 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 12 | // See the License for the specific language governing permissions and
 13 | // limitations under the License.
 14 | /*=========================================================================
 15 | 
 16 |   Program:   Visualization Toolkit
 17 |   Module:    PacketFileSender.cxx
 18 | 
 19 |   Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
 20 |   All rights reserved.
 21 |   See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
 22 | 
 23 |      This software is distributed WITHOUT ANY WARRANTY; without even
 24 |      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 25 |      PURPOSE.  See the above copyright notice for more information.
 26 | 
 27 | =========================================================================*/
 28 | // .NAME PacketFileSender -
 29 | // .SECTION Description
 30 | // This program reads a pcap file and sends the packets using UDP.
 31 | 
 32 | #include "PacketDriver.h"
 33 | #include "PacketDecoder.h"
 34 | #include "PacketFileReader.h"
 35 | 
 36 | #include <string>
 37 | #include <cstdlib>
 38 | #include <iostream>
 39 | 
 40 | #include <boost/thread/thread.hpp>
 41 | #include <boost/asio.hpp>
 42 | 
 43 | 
 44 | int main(int argc, char* argv[])
 45 | {
 46 | 
 47 |   if (argc != 2) {
 48 |     std::cout << "Usage: " << argv[0] << " <packet file>" << std::endl;
 49 |     return 1;
 50 |   }
 51 | 
 52 |   std::string filename = argv[1];
 53 | 
 54 |   vtkPacketFileReader packetReader;
 55 |   packetReader.Open(filename);
 56 |   if (!packetReader.IsOpen())
 57 |     {
 58 |     std::cout << "Failed to open packet file: " << filename << std::endl;
 59 |     return 1;
 60 |     }
 61 | 
 62 | 
 63 |   try
 64 |     {
 65 | 
 66 |     std::string destinationIp = "127.0.0.1";
 67 |     int dataPort = 2368;
 68 | 
 69 |     boost::asio::io_service ioService;
 70 |     boost::asio::ip::udp::endpoint destinationEndpoint(boost::asio::ip::address_v4::from_string(destinationIp), dataPort);
 71 |     boost::asio::ip::udp::socket socket(ioService);
 72 |     socket.open(destinationEndpoint.protocol());
 73 |     //socket.connect(destinationEndpoint);
 74 | 
 75 |     static unsigned long packetCounter = 0;
 76 |     double systemTime = 0;
 77 |     double prevSystemTime = 0;
 78 |     double packetTime = 0;
 79 |     double prevPacketTime = 0;
 80 |     int microsec_sleep = 450;
 81 | 
 82 |     while (packetReader.IsOpen())
 83 |       {
 84 | 
 85 |         const unsigned char* data = 0;
 86 |         unsigned int dataLength = 0;
 87 |         double timeSinceStart = 0;
 88 |         if (!packetReader.NextPacket(data, dataLength, timeSinceStart))
 89 |           {
 90 |           printf("end of packet file\n");
 91 |           break;
 92 |           }
 93 | 
 94 |         if (dataLength != 1206)
 95 |           {
 96 |           continue;
 97 |           }
 98 | 
 99 |         size_t bytesSent = socket.send_to(boost::asio::buffer(data, dataLength), destinationEndpoint);
100 | 
101 |         if ((++packetCounter % 500) == 0)
102 |           {
103 |           printf("total sent packets: %lu\n", packetCounter);
104 |           }
105 | 
106 |         unsigned char* data2 = const_cast<unsigned char*>(data);
107 |         HDLDataPacket* dataPacket = reinterpret_cast<HDLDataPacket *>(data2);
108 |         packetTime = (dataPacket->gpsTimestamp*1e-6);
109 | 
110 |         timespec tp;
111 |         clock_gettime(CLOCK_REALTIME,&tp);
112 |         long long timestamp_s = (tp).tv_sec*1e9;
113 |         long long timestamp = (tp).tv_nsec + timestamp_s;
114 |         systemTime = ((double)timestamp)*1e-9;
115 | 
116 |         if (prevPacketTime != 0 && prevSystemTime != 0) {
117 |           double packetDiff = packetTime-prevPacketTime;
118 |           double systemDiff = systemTime-prevSystemTime;
119 |           microsec_sleep = microsec_sleep - (systemDiff-packetDiff)*1e6;
120 |           //std::cout << packetDiff << ", " << systemDiff << ", " << microsec_sleep << std::endl;
121 |         }
122 | 
123 |         prevSystemTime = systemTime;
124 |         prevPacketTime = packetTime;
125 | 
126 |         boost::this_thread::sleep(boost::posix_time::microseconds(microsec_sleep));
127 |       }
128 | 
129 |     }
130 |   catch( std::exception & e )
131 |     {
132 |     std::cout << "Caught Exception: " << e.what() << std::endl;
133 |     return 1;
134 |     }
135 | 
136 |   return 0;
137 | }
138 | 


--------------------------------------------------------------------------------
/PacketFileReader.h:
--------------------------------------------------------------------------------
  1 | // Copyright 2013 Velodyne Acoustics, Inc.
  2 | //
  3 | // Licensed under the Apache License, Version 2.0 (the "License");
  4 | // you may not use this file except in compliance with the License.
  5 | // You may obtain a copy of the License at
  6 | //
  7 | //     http://www.apache.org/licenses/LICENSE-2.0
  8 | //
  9 | // Unless required by applicable law or agreed to in writing, software
 10 | // distributed under the License is distributed on an "AS IS" BASIS,
 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 12 | // See the License for the specific language governing permissions and
 13 | // limitations under the License.
 14 | /*=========================================================================
 15 | 
 16 |   Program:   Visualization Toolkit
 17 |   Module:    vtkPacketFileReader.h
 18 | 
 19 |   Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
 20 |   All rights reserved.
 21 |   See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
 22 | 
 23 |      This software is distributed WITHOUT ANY WARRANTY; without even
 24 |      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 25 |      PURPOSE.  See the above copyright notice for more information.
 26 | 
 27 | =========================================================================*/
 28 | // .NAME vtkPacketFileReader -
 29 | // .SECTION Description
 30 | //
 31 | 
 32 | #ifndef __vtkPacketFileReader_h
 33 | #define __vtkPacketFileReader_h
 34 | 
 35 | #include <pcap.h>
 36 | #include <string>
 37 | 
 38 | // Some versions of libpcap do not have PCAP_NETMASK_UNKNOWN
 39 | #if !defined(PCAP_NETMASK_UNKNOWN)
 40 |   #define PCAP_NETMASK_UNKNOWN 0xffffffff
 41 | #endif
 42 | 
 43 | class vtkPacketFileReader
 44 | {
 45 | public:
 46 | 
 47 |   vtkPacketFileReader()
 48 |   {
 49 |     this->PCAPFile = 0;
 50 |   }
 51 | 
 52 |   ~vtkPacketFileReader()
 53 |   {
 54 |     this->Close();
 55 |   }
 56 | 
 57 |   bool Open(const std::string& filename)
 58 |   {
 59 |     char errbuff[PCAP_ERRBUF_SIZE];
 60 |     pcap_t *pcapFile = pcap_open_offline(filename.c_str (), errbuff);
 61 |     if (!pcapFile)
 62 |       {
 63 |       this->LastError = errbuff;
 64 |       return false;
 65 |       }
 66 | 
 67 |     struct bpf_program filter;
 68 | 
 69 |     if (pcap_compile(pcapFile, &filter, "udp", 0, PCAP_NETMASK_UNKNOWN) == -1)
 70 |       {
 71 |       this->LastError = pcap_geterr(pcapFile);
 72 |       return false;
 73 |       }
 74 | 
 75 |     if (pcap_setfilter(pcapFile, &filter) == -1)
 76 |       {
 77 |       this->LastError = pcap_geterr(pcapFile);
 78 |       return false;
 79 |       }
 80 | 
 81 |     this->FileName = filename;
 82 |     this->PCAPFile = pcapFile;
 83 |     this->StartTime.tv_sec = this->StartTime.tv_usec = 0;
 84 |     return true;
 85 |   }
 86 | 
 87 |   bool IsOpen()
 88 |   {
 89 |     return (this->PCAPFile != 0);
 90 |   }
 91 | 
 92 |   void Close()
 93 |   {
 94 |     if (this->PCAPFile)
 95 |       {
 96 |       pcap_close(this->PCAPFile);
 97 |       this->PCAPFile = 0;
 98 |       this->FileName.clear();
 99 |       }
100 |   }
101 | 
102 |   const std::string& GetLastError()
103 |   {
104 |     return this->LastError;
105 |   }
106 | 
107 |   const std::string& GetFileName()
108 |   {
109 |     return this->FileName;
110 |   }
111 | 
112 |   void GetFilePosition(fpos_t* position)
113 |   {
114 | #ifdef _MSC_VER
115 |     pcap_fgetpos(this->PCAPFile, position);
116 | #else
117 |     FILE* f = pcap_file(this->PCAPFile);
118 |     fgetpos(f, position);
119 | #endif
120 |   }
121 | 
122 |   void SetFilePosition(fpos_t* position)
123 |   {
124 | #ifdef _MSC_VER
125 |     pcap_fsetpos(this->PCAPFile, position);
126 | #else
127 |     FILE* f = pcap_file(this->PCAPFile);
128 |     fsetpos(f, position);
129 | #endif
130 |   }
131 | 
132 |   bool NextPacket(const unsigned char*& data, unsigned int& dataLength, double& timeSinceStart, pcap_pkthdr** headerReference=NULL)
133 |   {
134 |     if (!this->PCAPFile)
135 |       {
136 |       return false;
137 |       }
138 | 
139 |     struct pcap_pkthdr *header;
140 |     int returnValue = pcap_next_ex(this->PCAPFile, &header, &data);
141 |     if (returnValue < 0)
142 |       {
143 |       this->Close();
144 |       return false;
145 |       }
146 | 
147 |     if (headerReference != NULL)
148 |       {
149 |       *headerReference = header;
150 |       dataLength = header->len;
151 |       timeSinceStart = GetElapsedTime(header->ts, this->StartTime);
152 |       return true;
153 |       }
154 | 
155 |     // The ethernet header is 42 bytes long; unnecessary
156 |     const unsigned int bytesToSkip = 42;
157 |     dataLength = header->len - bytesToSkip;
158 |     data = data + bytesToSkip;
159 |     timeSinceStart = GetElapsedTime(header->ts, this->StartTime);
160 |     return true;
161 |   }
162 | 
163 | protected:
164 | 
165 |   double GetElapsedTime(const struct timeval& end, const struct timeval& start)
166 |   {
167 |     return (end.tv_sec - start.tv_sec) + (end.tv_usec - start.tv_usec) / 1000000.00;
168 |   }
169 | 
170 |   pcap_t* PCAPFile;
171 |   std::string FileName;
172 |   std::string LastError;
173 |   struct timeval StartTime;
174 | };
175 | 
176 | #endif
177 | 


--------------------------------------------------------------------------------
/PacketFileWriter.h:
--------------------------------------------------------------------------------
  1 | // Copyright 2013 Velodyne Acoustics, Inc.
  2 | //
  3 | // Licensed under the Apache License, Version 2.0 (the "License");
  4 | // you may not use this file except in compliance with the License.
  5 | // You may obtain a copy of the License at
  6 | //
  7 | //     http://www.apache.org/licenses/LICENSE-2.0
  8 | //
  9 | // Unless required by applicable law or agreed to in writing, software
 10 | // distributed under the License is distributed on an "AS IS" BASIS,
 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 12 | // See the License for the specific language governing permissions and
 13 | // limitations under the License.
 14 | /*=========================================================================
 15 | 
 16 |   Program:   Visualization Toolkit
 17 |   Module:    vtkPacketFileWriter.h
 18 | 
 19 |   Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
 20 |   All rights reserved.
 21 |   See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
 22 | 
 23 |      This software is distributed WITHOUT ANY WARRANTY; without even
 24 |      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 25 |      PURPOSE.  See the above copyright notice for more information.
 26 | 
 27 | =========================================================================*/
 28 | // .NAME vtkPacketFileWriter -
 29 | // .SECTION Description
 30 | //
 31 | 
 32 | #ifndef __vtkPacketFileWriter_h
 33 | #define __vtkPacketFileWriter_h
 34 | 
 35 | #include <pcap.h>
 36 | #include <string>
 37 | #ifdef _MSC_VER
 38 | typedef __int32 int32_t;
 39 | typedef unsigned __int32 uint32_t;
 40 | typedef __int64 int64_t;
 41 | typedef unsigned __int64 uint64_t;
 42 | #else
 43 | # include <stdint.h>
 44 | #endif
 45 | 
 46 | 
 47 | #ifdef _MSC_VER
 48 | 
 49 | #include <windows.h>
 50 | 
 51 | namespace {
 52 | int gettimeofday(struct timeval * tp, void *)
 53 | {
 54 |   FILETIME ft;
 55 |   ::GetSystemTimeAsFileTime( &ft );
 56 |   long long t = (static_cast<long long>(ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
 57 |   t -= 116444736000000000LL;
 58 |   t /= 10;  // microseconds
 59 |   tp->tv_sec = static_cast<long>( t / 1000000UL);
 60 |   tp->tv_usec = static_cast<long>( t % 1000000UL);
 61 |   return 0;
 62 | }
 63 | }
 64 | 
 65 | #endif
 66 | 
 67 | class vtkPacketFileWriter
 68 | {
 69 | public:
 70 | 
 71 |   vtkPacketFileWriter()
 72 |   {
 73 |     this->PCAPFile = 0;
 74 |     this->PCAPDump = 0;
 75 | 
 76 |     this->PacketHeader.caplen = 1248;
 77 |     this->PacketHeader.len = 1248;
 78 | 
 79 |     // note these values are little endian, pcap wants the packet header and
 80 |     //data to be in the platform's native byte order, so assuming little endian.
 81 |     unsigned short packetHeader[21] = {
 82 |       0xffff, 0xffff, 0xffff, 0x7660,
 83 |       0x0088, 0x0000, 0x0008, 0x0045,
 84 |       0xd204, 0x0000, 0x0040, 0x11ff,
 85 |       0xaab4, 0xa8c0, 0xc801, 0xffff, // checksum 0xa9b4 //source ip 0xa8c0, 0xc801 is 192.168.1.200
 86 |       0xffff, 0x4009, 0x4009, 0xbe04, 0x0000};
 87 | 
 88 |     memcpy(this->PacketBuffer, packetHeader, 42);
 89 |   }
 90 | 
 91 |   ~vtkPacketFileWriter()
 92 |   {
 93 |     this->Close();
 94 |   }
 95 | 
 96 |   bool Open(const std::string& filename)
 97 |   {
 98 |     this->PCAPFile = pcap_open_dead(DLT_EN10MB, 65535);
 99 |     this->PCAPDump = pcap_dump_open(this->PCAPFile, filename.c_str());
100 | 
101 |     if (!this->PCAPDump)
102 |       {
103 |       this->LastError = pcap_geterr(this->PCAPFile);
104 |       pcap_close(this->PCAPFile);
105 |       this->PCAPFile = 0;
106 |       return false;
107 |       }
108 | 
109 |     this->FileName = filename;
110 |     return true;
111 |   }
112 | 
113 |   bool IsOpen()
114 |   {
115 |     return (this->PCAPFile != 0);
116 |   }
117 | 
118 |   void Close()
119 |   {
120 |     if (this->PCAPFile)
121 |       {
122 |       pcap_dump_close(this->PCAPDump);
123 |       pcap_close(this->PCAPFile);
124 |       this->PCAPFile = 0;
125 |       this->PCAPDump = 0;
126 |       this->FileName.clear();
127 |       }
128 |   }
129 | 
130 |   const std::string& GetLastError()
131 |   {
132 |     return this->LastError;
133 |   }
134 | 
135 |   const std::string& GetFileName()
136 |   {
137 |     return this->FileName;
138 |   }
139 | 
140 |   bool WritePacket(const unsigned char* data, unsigned int dataLength)
141 |   {
142 |     if (!this->PCAPFile)
143 |       {
144 |       return false;
145 |       }
146 | 
147 |     if (dataLength != 1206)
148 |       {
149 |       return false;
150 |       }
151 | 
152 |     struct timeval currentTime;
153 |     gettimeofday(&currentTime, NULL);
154 |     this->PacketHeader.ts = currentTime;
155 | 
156 |     memcpy(this->PacketBuffer + 42, data, dataLength);
157 | 
158 |     pcap_dump((u_char *)this->PCAPDump, &this->PacketHeader, this->PacketBuffer);
159 |     return true;
160 |   }
161 | 
162 |   bool WritePacket(pcap_pkthdr* packetHeader, unsigned char* packetData)
163 |   {
164 |     pcap_dump((u_char *)this->PCAPDump, packetHeader, packetData);
165 |     return true;
166 |   }
167 | 
168 | protected:
169 | 
170 | 
171 | 
172 |   pcap_t* PCAPFile;
173 |   pcap_dumper_t* PCAPDump;
174 |   struct pcap_pkthdr PacketHeader;
175 |   unsigned char PacketBuffer[1248];
176 | 
177 |   std::string FileName;
178 |   std::string LastError;
179 | };
180 | 
181 | #endif
182 | 


--------------------------------------------------------------------------------
/PacketDecoder.cpp:
--------------------------------------------------------------------------------
  1 | // Velodyne HDL Packet Decoder
  2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
  3 | // shared library to decode a Velodyne packet - largely repurposed from vtkVelodyneHDLReader
  4 | 
  5 | #include <cmath>
  6 | #include <stdint.h>
  7 | #include <iostream>
  8 | #include <boost/property_tree/ptree.hpp>
  9 | #include <boost/property_tree/xml_parser.hpp>
 10 | #include <boost/foreach.hpp>
 11 | 
 12 | #include "PacketDecoder.h"
 13 | 
 14 | PacketDecoder::PacketDecoder()
 15 | {
 16 |   _max_num_of_frames = 10;
 17 |   UnloadData();
 18 |   InitTables();
 19 |   LoadHDL32Corrections();
 20 | }
 21 | 
 22 | PacketDecoder::~PacketDecoder()
 23 | {
 24 | 
 25 | }
 26 | 
 27 | void PacketDecoder::SetMaxNumberOfFrames(unsigned int max_num_of_frames)
 28 | {
 29 | 
 30 |   if (max_num_of_frames <= 0) {
 31 |     return;
 32 |   } else {
 33 |     _max_num_of_frames = max_num_of_frames;
 34 |   }
 35 |   while (_frames.size() >= _max_num_of_frames) {
 36 |     _frames.pop_front();
 37 |   }
 38 | }
 39 | 
 40 | void PacketDecoder::DecodePacket(std::string* data, unsigned int* data_length)
 41 | {
 42 |   const unsigned char* data_char = reinterpret_cast<const unsigned char*>(data->c_str());
 43 |   ProcessHDLPacket(const_cast<unsigned char*>(data_char), *data_length);
 44 | }
 45 | 
 46 | void PacketDecoder::ProcessHDLPacket(unsigned char *data, unsigned int data_length)
 47 | {
 48 |   if (data_length != 1206) {
 49 |     std::cout << "PacketDecoder: Warning, data packet is not 1206 bytes" << std::endl;
 50 |     return;
 51 |   }
 52 | 
 53 |   HDLDataPacket* dataPacket = reinterpret_cast<HDLDataPacket *>(data);
 54 | 
 55 |   for (int i = 0; i < HDL_FIRING_PER_PKT; ++i) {
 56 |     HDLFiringData firingData = dataPacket->firingData[i];
 57 |     int offset = (firingData.blockIdentifier == BLOCK_0_TO_31) ? 0 : 32;
 58 | 
 59 |     if (firingData.rotationalPosition < _last_azimuth) {
 60 |       SplitFrame();
 61 |     }
 62 | 
 63 |     _last_azimuth = firingData.rotationalPosition;
 64 | 
 65 |     for (int j = 0; j < HDL_LASER_PER_FIRING; j++) {
 66 |       unsigned char laserId = static_cast<unsigned char>(j + offset);
 67 |       if (firingData.laserReturns[j].distance != 0.0) {
 68 |         PushFiringData(laserId, firingData.rotationalPosition, dataPacket->gpsTimestamp, firingData.laserReturns[j], laser_corrections_[j + offset]);
 69 |       }
 70 |     }
 71 |   }
 72 | }
 73 | 
 74 | void PacketDecoder::SplitFrame()
 75 | {
 76 |   if (_frames.size() == _max_num_of_frames-1) {
 77 |     _frames.pop_front();
 78 |   }
 79 |   _frames.push_back(*_frame);
 80 |   delete _frame;
 81 |   _frame = new HDLFrame();
 82 | }
 83 | 
 84 | void PacketDecoder::PushFiringData(unsigned char laserId, unsigned short azimuth, unsigned int timestamp, HDLLaserReturn laserReturn, HDLLaserCorrection correction)
 85 | {
 86 |   double cosAzimuth, sinAzimuth;
 87 |   if (correction.azimuthCorrection == 0) {
 88 |     cosAzimuth = cos_lookup_table_[azimuth];
 89 |     sinAzimuth = sin_lookup_table_[azimuth];
 90 |   } else {
 91 |     double azimuthInRadians = HDL_Grabber_toRadians((static_cast<double> (azimuth) / 100.0) - correction.azimuthCorrection);
 92 |     cosAzimuth = std::cos(azimuthInRadians);
 93 |     sinAzimuth = std::sin(azimuthInRadians);
 94 |   }
 95 | 
 96 |   double distanceM = laserReturn.distance * 0.002 + correction.distanceCorrection;
 97 |   double xyDistance = distanceM * correction.cosVertCorrection - correction.sinVertOffsetCorrection;
 98 | 
 99 |   double x = (xyDistance * sinAzimuth - correction.horizontalOffsetCorrection * cosAzimuth);
100 |   double y = (xyDistance * cosAzimuth + correction.horizontalOffsetCorrection * sinAzimuth);
101 |   double z = (distanceM * correction.sinVertCorrection + correction.cosVertOffsetCorrection);
102 |   unsigned char intensity = laserReturn.intensity;
103 | 
104 |   _frame->x.push_back(x);
105 |   _frame->y.push_back(y);
106 |   _frame->z.push_back(z);
107 |   _frame->intensity.push_back(intensity);
108 |   _frame->laser_id.push_back(laserId);
109 |   _frame->azimuth.push_back(azimuth);
110 |   _frame->distance.push_back(distanceM);
111 |   _frame->ms_from_top_of_hour.push_back(timestamp);
112 | }
113 | 
114 | void PacketDecoder::SetCorrectionsFile(const std::string& corrections_file)
115 | {
116 |   if (corrections_file == _corrections_file) {
117 |     return;
118 |   }
119 | 
120 |   if (corrections_file.length()) {
121 |     LoadCorrectionsFile(corrections_file);
122 |   } else {
123 |     LoadHDL32Corrections();
124 |   }
125 | 
126 |   _corrections_file = corrections_file;
127 |   UnloadData();
128 | }
129 | 
130 | void PacketDecoder::UnloadData()
131 | {
132 |   _last_azimuth = 0;
133 |   _frame = new HDLFrame();
134 |   _frames.clear();
135 | }
136 | 
137 | void PacketDecoder::InitTables()
138 | {
139 |   if (cos_lookup_table_ == NULL && sin_lookup_table_ == NULL) {
140 |     cos_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*cos_lookup_table_)));
141 |     sin_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*sin_lookup_table_)));
142 |     for (unsigned int i = 0; i < HDL_NUM_ROT_ANGLES; i++) {
143 |       double rad = HDL_Grabber_toRadians(i / 100.0);
144 |       cos_lookup_table_[i] = std::cos(rad);
145 |       sin_lookup_table_[i] = std::sin(rad);
146 |     }
147 |   }
148 | }
149 | 
150 | void PacketDecoder::LoadCorrectionsFile(const std::string& correctionsFile)
151 | {
152 | 
153 |   boost::property_tree::ptree pt;
154 |   try {
155 |     read_xml(correctionsFile, pt, boost::property_tree::xml_parser::trim_whitespace);
156 |   } catch (boost::exception const&) {
157 |     std::cout << "PacketDecoder: Error reading calibration file - " << correctionsFile << std::endl;
158 |     return;
159 |   }
160 | 
161 |   BOOST_FOREACH (boost::property_tree::ptree::value_type &v, pt.get_child("boost_serialization.DB.points_")) {
162 |     if (v.first == "item") {
163 |       boost::property_tree::ptree points = v.second;
164 |       BOOST_FOREACH (boost::property_tree::ptree::value_type &px, points) {
165 |         if (px.first == "px") {
166 |           boost::property_tree::ptree calibrationData = px.second;
167 |           int index = -1;
168 |           double azimuth = 0;
169 |           double vertCorrection = 0;
170 |           double distCorrection = 0;
171 |           double vertOffsetCorrection = 0;
172 |           double horizOffsetCorrection = 0;
173 | 
174 |           BOOST_FOREACH (boost::property_tree::ptree::value_type &item, calibrationData) {
175 |             if (item.first == "id_")
176 |               index = atoi(item.second.data().c_str());
177 |             if (item.first == "rotCorrection_")
178 |               azimuth = atof(item.second.data().c_str());
179 |             if (item.first == "vertCorrection_")
180 |               vertCorrection = atof(item.second.data().c_str());
181 |             if (item.first == "distCorrection_")
182 |               distCorrection = atof(item.second.data().c_str());
183 |             if (item.first == "vertOffsetCorrection_")
184 |               vertOffsetCorrection = atof(item.second.data().c_str());
185 |             if (item.first == "horizOffsetCorrection_")
186 |               horizOffsetCorrection = atof(item.second.data().c_str());
187 |           }
188 |           if (index != -1) {
189 |             laser_corrections_[index].azimuthCorrection = azimuth;
190 |             laser_corrections_[index].verticalCorrection = vertCorrection;
191 |             laser_corrections_[index].distanceCorrection = distCorrection / 100.0;
192 |             laser_corrections_[index].verticalOffsetCorrection = vertOffsetCorrection / 100.0;
193 |             laser_corrections_[index].horizontalOffsetCorrection = horizOffsetCorrection / 100.0;
194 | 
195 |             laser_corrections_[index].cosVertCorrection = std::cos (HDL_Grabber_toRadians(laser_corrections_[index].verticalCorrection));
196 |             laser_corrections_[index].sinVertCorrection = std::sin (HDL_Grabber_toRadians(laser_corrections_[index].verticalCorrection));
197 |           }
198 |         }
199 |       }
200 |     }
201 |   }
202 | 
203 |   SetCorrectionsCommon();
204 | }
205 | 
206 | void PacketDecoder::LoadHDL32Corrections()
207 | {
208 |   double hdl32VerticalCorrections[] = {
209 |     -30.67, -9.3299999, -29.33, -8, -28,
210 |     -6.6700001, -26.67, -5.3299999, -25.33, -4, -24, -2.6700001, -22.67,
211 |     -1.33, -21.33, 0, -20, 1.33, -18.67, 2.6700001, -17.33, 4, -16, 5.3299999,
212 |     -14.67, 6.6700001, -13.33, 8, -12, 9.3299999, -10.67, 10.67 };
213 | 
214 |   for (int i = 0; i < HDL_LASER_PER_FIRING; i++) {
215 |     laser_corrections_[i].azimuthCorrection = 0.0;
216 |     laser_corrections_[i].distanceCorrection = 0.0;
217 |     laser_corrections_[i].horizontalOffsetCorrection = 0.0;
218 |     laser_corrections_[i].verticalOffsetCorrection = 0.0;
219 |     laser_corrections_[i].verticalCorrection = hdl32VerticalCorrections[i];
220 |     laser_corrections_[i].sinVertCorrection = std::sin(HDL_Grabber_toRadians(hdl32VerticalCorrections[i]));
221 |     laser_corrections_[i].cosVertCorrection = std::cos(HDL_Grabber_toRadians(hdl32VerticalCorrections[i]));
222 |   }
223 | 
224 |   for (int i = HDL_LASER_PER_FIRING; i < HDL_MAX_NUM_LASERS; i++) {
225 |     laser_corrections_[i].azimuthCorrection = 0.0;
226 |     laser_corrections_[i].distanceCorrection = 0.0;
227 |     laser_corrections_[i].horizontalOffsetCorrection = 0.0;
228 |     laser_corrections_[i].verticalOffsetCorrection = 0.0;
229 |     laser_corrections_[i].verticalCorrection = 0.0;
230 |     laser_corrections_[i].sinVertCorrection = 0.0;
231 |     laser_corrections_[i].cosVertCorrection = 1.0;
232 |   }
233 | 
234 |   SetCorrectionsCommon();
235 | }
236 | 
237 | void PacketDecoder::SetCorrectionsCommon()
238 | {
239 |   for (int i = 0; i < HDL_MAX_NUM_LASERS; i++) {
240 |     HDLLaserCorrection correction = laser_corrections_[i];
241 |     laser_corrections_[i].sinVertOffsetCorrection = correction.verticalOffsetCorrection
242 |                                        * correction.sinVertCorrection;
243 |     laser_corrections_[i].cosVertOffsetCorrection = correction.verticalOffsetCorrection
244 |                                        * correction.cosVertCorrection;
245 |   }
246 | }
247 | 
248 | std::deque<PacketDecoder::HDLFrame> PacketDecoder::GetFrames()
249 | {
250 |   return _frames;
251 | }
252 | 
253 | void PacketDecoder::ClearFrames()
254 | {
255 |   _frames.clear();
256 | }
257 | 
258 | bool PacketDecoder::GetLatestFrame(PacketDecoder::HDLFrame* frame)
259 | {
260 |   if (_frames.size()) {
261 |     *frame = _frames.back();
262 |     _frames.clear();
263 |     return(true);
264 |   }
265 |   return(false);
266 | }
267 | 


--------------------------------------------------------------------------------
/PacketBundleDecoder.cpp:
--------------------------------------------------------------------------------
  1 | // Velodyne HDL Packet Bundle Decoder
  2 | // Nick Rypkema (rypkema@mit.edu), MIT 2017
  3 | // shared library to decode a bundle of velodyne packets
  4 | 
  5 | #include <cmath>
  6 | #include <stdint.h>
  7 | #include <iostream>
  8 | #include <boost/property_tree/ptree.hpp>
  9 | #include <boost/property_tree/xml_parser.hpp>
 10 | #include <boost/foreach.hpp>
 11 | 
 12 | #include "PacketBundleDecoder.h"
 13 | 
 14 | PacketBundleDecoder::PacketBundleDecoder()
 15 | {
 16 |   _max_num_of_frames = 10;
 17 |   UnloadData();
 18 |   InitTables();
 19 |   LoadHDL32Corrections();
 20 | }
 21 | 
 22 | PacketBundleDecoder::~PacketBundleDecoder()
 23 | {
 24 | 
 25 | }
 26 | 
 27 | void PacketBundleDecoder::SetMaxNumberOfFrames(unsigned int max_num_of_frames)
 28 | {
 29 | 
 30 |   if (max_num_of_frames <= 0) {
 31 |     return;
 32 |   } else {
 33 |     _max_num_of_frames = max_num_of_frames;
 34 |   }
 35 |   while (_frames.size() >= _max_num_of_frames) {
 36 |     _frames.pop_front();
 37 |   }
 38 | }
 39 | 
 40 | void PacketBundleDecoder::DecodeBundle(std::string* bundle, unsigned int* bundle_length)
 41 | {
 42 |   unsigned int num_packets = *bundle_length/1206;
 43 | 
 44 |   for (int i = 0; i < num_packets; i++) {
 45 |     std::string data = bundle->substr(i*1206, 1206);
 46 |     const unsigned char* data_char = reinterpret_cast<const unsigned char*>(data.c_str());
 47 |     ProcessHDLPacket(const_cast<unsigned char*>(data_char), 1206);
 48 |   }
 49 | 
 50 |   if (_frames.size() == _max_num_of_frames-1) {
 51 |     _frames.pop_front();
 52 |   }
 53 |   _frames.push_back(*_frame);
 54 |   delete _frame;
 55 |   _frame = new HDLFrame();
 56 | }
 57 | 
 58 | void PacketBundleDecoder::ProcessHDLPacket(unsigned char *data, unsigned int data_length)
 59 | {
 60 |   if (data_length != 1206) {
 61 |     std::cout << "PacketDecoder: Warning, data packet is not 1206 bytes" << std::endl;
 62 |     return;
 63 |   }
 64 | 
 65 |   HDLDataPacket* dataPacket = reinterpret_cast<HDLDataPacket *>(data);
 66 | 
 67 |   for (int i = 0; i < HDL_FIRING_PER_PKT; ++i) {
 68 |     HDLFiringData firingData = dataPacket->firingData[i];
 69 |     int offset = (firingData.blockIdentifier == BLOCK_0_TO_31) ? 0 : 32;
 70 | 
 71 |     for (int j = 0; j < HDL_LASER_PER_FIRING; j++) {
 72 |       unsigned char laserId = static_cast<unsigned char>(j + offset);
 73 |       if (firingData.laserReturns[j].distance != 0.0) {
 74 |         PushFiringData(laserId, firingData.rotationalPosition, dataPacket->gpsTimestamp, firingData.laserReturns[j], laser_corrections_[j + offset]);
 75 |       }
 76 |     }
 77 |   }
 78 | }
 79 | 
 80 | void PacketBundleDecoder::PushFiringData(unsigned char laserId, unsigned short azimuth, unsigned int timestamp, HDLLaserReturn laserReturn, HDLLaserCorrection correction)
 81 | {
 82 |   double cosAzimuth, sinAzimuth;
 83 |   if (correction.azimuthCorrection == 0) {
 84 |     cosAzimuth = cos_lookup_table_[azimuth];
 85 |     sinAzimuth = sin_lookup_table_[azimuth];
 86 |   } else {
 87 |     double azimuthInRadians = HDL_Grabber_toRadians((static_cast<double> (azimuth) / 100.0) - correction.azimuthCorrection);
 88 |     cosAzimuth = std::cos(azimuthInRadians);
 89 |     sinAzimuth = std::sin(azimuthInRadians);
 90 |   }
 91 | 
 92 |   double distanceM = laserReturn.distance * 0.002 + correction.distanceCorrection;
 93 |   double xyDistance = distanceM * correction.cosVertCorrection - correction.sinVertOffsetCorrection;
 94 | 
 95 |   double x = (xyDistance * sinAzimuth - correction.horizontalOffsetCorrection * cosAzimuth);
 96 |   double y = (xyDistance * cosAzimuth + correction.horizontalOffsetCorrection * sinAzimuth);
 97 |   double z = (distanceM * correction.sinVertCorrection + correction.cosVertOffsetCorrection);
 98 |   unsigned char intensity = laserReturn.intensity;
 99 | 
100 |   _frame->x.push_back(x);
101 |   _frame->y.push_back(y);
102 |   _frame->z.push_back(z);
103 |   _frame->intensity.push_back(intensity);
104 |   _frame->laser_id.push_back(laserId);
105 |   _frame->azimuth.push_back(azimuth);
106 |   _frame->distance.push_back(distanceM);
107 |   _frame->ms_from_top_of_hour.push_back(timestamp);
108 | }
109 | 
110 | void PacketBundleDecoder::SetCorrectionsFile(const std::string& corrections_file)
111 | {
112 |   if (corrections_file == _corrections_file) {
113 |     return;
114 |   }
115 | 
116 |   if (corrections_file.length()) {
117 |     LoadCorrectionsFile(corrections_file);
118 |   } else {
119 |     LoadHDL32Corrections();
120 |   }
121 | 
122 |   _corrections_file = corrections_file;
123 |   UnloadData();
124 | }
125 | 
126 | void PacketBundleDecoder::UnloadData()
127 | {
128 |   _frame = new HDLFrame();
129 |   _frames.clear();
130 | }
131 | 
132 | void PacketBundleDecoder::InitTables()
133 | {
134 |   if (cos_lookup_table_ == NULL && sin_lookup_table_ == NULL) {
135 |     cos_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*cos_lookup_table_)));
136 |     sin_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*sin_lookup_table_)));
137 |     for (unsigned int i = 0; i < HDL_NUM_ROT_ANGLES; i++) {
138 |       double rad = HDL_Grabber_toRadians(i / 100.0);
139 |       cos_lookup_table_[i] = std::cos(rad);
140 |       sin_lookup_table_[i] = std::sin(rad);
141 |     }
142 |   }
143 | }
144 | 
145 | void PacketBundleDecoder::LoadCorrectionsFile(const std::string& correctionsFile)
146 | {
147 | 
148 |   boost::property_tree::ptree pt;
149 |   try {
150 |     read_xml(correctionsFile, pt, boost::property_tree::xml_parser::trim_whitespace);
151 |   } catch (boost::exception const&) {
152 |     std::cout << "PacketDecoder: Error reading calibration file - " << correctionsFile << std::endl;
153 |     return;
154 |   }
155 | 
156 |   BOOST_FOREACH (boost::property_tree::ptree::value_type &v, pt.get_child("boost_serialization.DB.points_")) {
157 |     if (v.first == "item") {
158 |       boost::property_tree::ptree points = v.second;
159 |       BOOST_FOREACH (boost::property_tree::ptree::value_type &px, points) {
160 |         if (px.first == "px") {
161 |           boost::property_tree::ptree calibrationData = px.second;
162 |           int index = -1;
163 |           double azimuth = 0;
164 |           double vertCorrection = 0;
165 |           double distCorrection = 0;
166 |           double vertOffsetCorrection = 0;
167 |           double horizOffsetCorrection = 0;
168 | 
169 |           BOOST_FOREACH (boost::property_tree::ptree::value_type &item, calibrationData) {
170 |             if (item.first == "id_")
171 |               index = atoi(item.second.data().c_str());
172 |             if (item.first == "rotCorrection_")
173 |               azimuth = atof(item.second.data().c_str());
174 |             if (item.first == "vertCorrection_")
175 |               vertCorrection = atof(item.second.data().c_str());
176 |             if (item.first == "distCorrection_")
177 |               distCorrection = atof(item.second.data().c_str());
178 |             if (item.first == "vertOffsetCorrection_")
179 |               vertOffsetCorrection = atof(item.second.data().c_str());
180 |             if (item.first == "horizOffsetCorrection_")
181 |               horizOffsetCorrection = atof(item.second.data().c_str());
182 |           }
183 |           if (index != -1) {
184 |             laser_corrections_[index].azimuthCorrection = azimuth;
185 |             laser_corrections_[index].verticalCorrection = vertCorrection;
186 |             laser_corrections_[index].distanceCorrection = distCorrection / 100.0;
187 |             laser_corrections_[index].verticalOffsetCorrection = vertOffsetCorrection / 100.0;
188 |             laser_corrections_[index].horizontalOffsetCorrection = horizOffsetCorrection / 100.0;
189 | 
190 |             laser_corrections_[index].cosVertCorrection = std::cos (HDL_Grabber_toRadians(laser_corrections_[index].verticalCorrection));
191 |             laser_corrections_[index].sinVertCorrection = std::sin (HDL_Grabber_toRadians(laser_corrections_[index].verticalCorrection));
192 |           }
193 |         }
194 |       }
195 |     }
196 |   }
197 | 
198 |   SetCorrectionsCommon();
199 | }
200 | 
201 | void PacketBundleDecoder::LoadHDL32Corrections()
202 | {
203 |   double hdl32VerticalCorrections[] = {
204 |     -30.67, -9.3299999, -29.33, -8, -28,
205 |     -6.6700001, -26.67, -5.3299999, -25.33, -4, -24, -2.6700001, -22.67,
206 |     -1.33, -21.33, 0, -20, 1.33, -18.67, 2.6700001, -17.33, 4, -16, 5.3299999,
207 |     -14.67, 6.6700001, -13.33, 8, -12, 9.3299999, -10.67, 10.67 };
208 | 
209 |   for (int i = 0; i < HDL_LASER_PER_FIRING; i++) {
210 |     laser_corrections_[i].azimuthCorrection = 0.0;
211 |     laser_corrections_[i].distanceCorrection = 0.0;
212 |     laser_corrections_[i].horizontalOffsetCorrection = 0.0;
213 |     laser_corrections_[i].verticalOffsetCorrection = 0.0;
214 |     laser_corrections_[i].verticalCorrection = hdl32VerticalCorrections[i];
215 |     laser_corrections_[i].sinVertCorrection = std::sin(HDL_Grabber_toRadians(hdl32VerticalCorrections[i]));
216 |     laser_corrections_[i].cosVertCorrection = std::cos(HDL_Grabber_toRadians(hdl32VerticalCorrections[i]));
217 |   }
218 | 
219 |   for (int i = HDL_LASER_PER_FIRING; i < HDL_MAX_NUM_LASERS; i++) {
220 |     laser_corrections_[i].azimuthCorrection = 0.0;
221 |     laser_corrections_[i].distanceCorrection = 0.0;
222 |     laser_corrections_[i].horizontalOffsetCorrection = 0.0;
223 |     laser_corrections_[i].verticalOffsetCorrection = 0.0;
224 |     laser_corrections_[i].verticalCorrection = 0.0;
225 |     laser_corrections_[i].sinVertCorrection = 0.0;
226 |     laser_corrections_[i].cosVertCorrection = 1.0;
227 |   }
228 | 
229 |   SetCorrectionsCommon();
230 | }
231 | 
232 | void PacketBundleDecoder::SetCorrectionsCommon()
233 | {
234 |   for (int i = 0; i < HDL_MAX_NUM_LASERS; i++) {
235 |     HDLLaserCorrection correction = laser_corrections_[i];
236 |     laser_corrections_[i].sinVertOffsetCorrection = correction.verticalOffsetCorrection
237 |                                        * correction.sinVertCorrection;
238 |     laser_corrections_[i].cosVertOffsetCorrection = correction.verticalOffsetCorrection
239 |                                        * correction.cosVertCorrection;
240 |   }
241 | }
242 | 
243 | std::deque<PacketBundleDecoder::HDLFrame> PacketBundleDecoder::GetFrames()
244 | {
245 |   return _frames;
246 | }
247 | 
248 | void PacketBundleDecoder::ClearFrames()
249 | {
250 |   _frames.clear();
251 | }
252 | 
253 | bool PacketBundleDecoder::GetLatestFrame(PacketBundleDecoder::HDLFrame* frame)
254 | {
255 |   if (_frames.size()) {
256 |     *frame = _frames.back();
257 |     _frames.clear();
258 |     return(true);
259 |   }
260 |   return(false);
261 | }
262 | 


--------------------------------------------------------------------------------
/16db.xml:
--------------------------------------------------------------------------------
   1 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
   2 | <!DOCTYPE boost_serialization>
   3 | <boost_serialization signature="serialization::archive" version="4">
   4 | <DB class_id="0" tracking_level="1" version="0" object_id="_0">
   5 | 	<distLSB_>0.2</distLSB_>
   6 | 	<position_ class_id="1" tracking_level="0" version="0">
   7 | 		<xyz>
   8 | 			<count>3</count>
   9 | 			<item>0</item>
  10 | 			<item>0</item>
  11 | 			<item>0</item>
  12 | 		</xyz>
  13 | 	</position_>
  14 | 	<orientation_ class_id="2" tracking_level="0" version="0">
  15 | 		<rpy>
  16 | 			<count>3</count>
  17 | 			<item>0</item>
  18 | 			<item>0</item>
  19 | 			<item>0</item>
  20 | 		</rpy>
  21 | 	</orientation_>
  22 | 	<colors_ class_id="3" tracking_level="0" version="0">
  23 | 		<count>64</count>
  24 | 		<item_version>0</item_version>
  25 | 		<item class_id="4" tracking_level="0" version="0">
  26 | 			<rgb>
  27 | 				<count>3</count>
  28 | 				<item>0.84018773</item>
  29 | 				<item>0.39438292</item>
  30 | 				<item>0.78309923</item>
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 737 | 		<item>0</item>
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 745 | 		<item>255</item>
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 777 | 		<item>255</item>
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 780 | 		<item>255</item>
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 790 | 		<item>255</item>
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 800 | 		<item>255</item>
 801 | 		<item>255</item>
 802 | 		<item>255</item>
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 804 | 		<item>255</item>
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 806 | 		<item>255</item>
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 820 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 821 | 				<focalDistance_>0</focalDistance_>
 822 | 				<focalSlope_>0</focalSlope_>
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 833 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 834 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 835 | 				<focalDistance_>0</focalDistance_>
 836 | 				<focalSlope_>0</focalSlope_>
 837 | 			</px>
 838 | 		</item>
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 843 | 				<vertCorrection_>-13</vertCorrection_>
 844 | 				<distCorrection_>0</distCorrection_>
 845 | 				<distCorrectionX_>0</distCorrectionX_>
 846 | 				<distCorrectionY_>0</distCorrectionY_>
 847 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 848 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 849 | 				<focalDistance_>0</focalDistance_>
 850 | 				<focalSlope_>0</focalSlope_>
 851 | 			</px>
 852 | 		</item>
 853 | 		<item>
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 858 | 				<distCorrection_>0</distCorrection_>
 859 | 				<distCorrectionX_>0</distCorrectionX_>
 860 | 				<distCorrectionY_>0</distCorrectionY_>
 861 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 862 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 863 | 				<focalDistance_>0</focalDistance_>
 864 | 				<focalSlope_>0</focalSlope_>
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 866 | 		</item>
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 872 | 				<distCorrection_>0</distCorrection_>
 873 | 				<distCorrectionX_>0</distCorrectionX_>
 874 | 				<distCorrectionY_>0</distCorrectionY_>
 875 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 876 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 877 | 				<focalDistance_>0</focalDistance_>
 878 | 				<focalSlope_>0</focalSlope_>
 879 | 			</px>
 880 | 		</item>
 881 | 		<item>
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 887 | 				<distCorrectionX_>0</distCorrectionX_>
 888 | 				<distCorrectionY_>0</distCorrectionY_>
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 890 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 891 | 				<focalDistance_>0</focalDistance_>
 892 | 				<focalSlope_>0</focalSlope_>
 893 | 			</px>
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 895 | 		<item>
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 901 | 				<distCorrectionX_>0</distCorrectionX_>
 902 | 				<distCorrectionY_>0</distCorrectionY_>
 903 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 904 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 905 | 				<focalDistance_>0</focalDistance_>
 906 | 				<focalSlope_>0</focalSlope_>
 907 | 			</px>
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 913 | 				<vertCorrection_>7</vertCorrection_>
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 915 | 				<distCorrectionX_>0</distCorrectionX_>
 916 | 				<distCorrectionY_>0</distCorrectionY_>
 917 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 918 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 919 | 				<focalDistance_>0</focalDistance_>
 920 | 				<focalSlope_>0</focalSlope_>
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 922 | 		</item>
 923 | 		<item>
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 926 | 				<rotCorrection_>0</rotCorrection_>
 927 | 				<vertCorrection_>-7</vertCorrection_>
 928 | 				<distCorrection_>0</distCorrection_>
 929 | 				<distCorrectionX_>0</distCorrectionX_>
 930 | 				<distCorrectionY_>0</distCorrectionY_>
 931 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 932 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 933 | 				<focalDistance_>0</focalDistance_>
 934 | 				<focalSlope_>0</focalSlope_>
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 936 | 		</item>
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 943 | 				<distCorrectionX_>0</distCorrectionX_>
 944 | 				<distCorrectionY_>0</distCorrectionY_>
 945 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 946 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 947 | 				<focalDistance_>0</focalDistance_>
 948 | 				<focalSlope_>0</focalSlope_>
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 957 | 				<distCorrectionX_>0</distCorrectionX_>
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 959 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 960 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 961 | 				<focalDistance_>0</focalDistance_>
 962 | 				<focalSlope_>0</focalSlope_>
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 968 | 				<rotCorrection_>0</rotCorrection_>
 969 | 				<vertCorrection_>11</vertCorrection_>
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 971 | 				<distCorrectionX_>0</distCorrectionX_>
 972 | 				<distCorrectionY_>0</distCorrectionY_>
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 974 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 975 | 				<focalDistance_>0</focalDistance_>
 976 | 				<focalSlope_>0</focalSlope_>
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 987 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
 988 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
 989 | 				<focalDistance_>0</focalDistance_>
 990 | 				<focalSlope_>0</focalSlope_>
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1000 | 				<distCorrectionY_>0</distCorrectionY_>
1001 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1002 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1003 | 				<focalDistance_>0</focalDistance_>
1004 | 				<focalSlope_>0</focalSlope_>
1005 | 			</px>
1006 | 		</item>
1007 | 		<item>
1008 | 			<px class_id_reference="9" object_id="_15">
1009 | 				<id_>14</id_>
1010 | 				<rotCorrection_>0</rotCorrection_>
1011 | 				<vertCorrection_>-1</vertCorrection_>
1012 | 				<distCorrection_>0</distCorrection_>
1013 | 				<distCorrectionX_>0</distCorrectionX_>
1014 | 				<distCorrectionY_>0</distCorrectionY_>
1015 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1016 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1017 | 				<focalDistance_>0</focalDistance_>
1018 | 				<focalSlope_>0</focalSlope_>
1019 | 			</px>
1020 | 		</item>
1021 | 		<item>
1022 | 			<px class_id_reference="9" object_id="_16">
1023 | 				<id_>15</id_>
1024 | 				<rotCorrection_>0</rotCorrection_>
1025 | 				<vertCorrection_>15</vertCorrection_>
1026 | 				<distCorrection_>0</distCorrection_>
1027 | 				<distCorrectionX_>0</distCorrectionX_>
1028 | 				<distCorrectionY_>0</distCorrectionY_>
1029 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1030 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1031 | 				<focalDistance_>0</focalDistance_>
1032 | 				<focalSlope_>0</focalSlope_>
1033 | 			</px>
1034 | 		</item>
1035 | 		<item>
1036 | 			<px class_id_reference="9" object_id="_17">
1037 | 				<id_>16</id_>
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1039 | 				<vertCorrection_>-15</vertCorrection_>
1040 | 				<distCorrection_>0</distCorrection_>
1041 | 				<distCorrectionX_>0</distCorrectionX_>
1042 | 				<distCorrectionY_>0</distCorrectionY_>
1043 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1044 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1045 | 				<focalDistance_>0</focalDistance_>
1046 | 				<focalSlope_>0</focalSlope_>
1047 | 			</px>
1048 | 		</item>
1049 | 		<item>
1050 | 			<px class_id_reference="9" object_id="_18">
1051 | 				<id_>17</id_>
1052 | 				<rotCorrection_>0</rotCorrection_>
1053 | 				<vertCorrection_>1</vertCorrection_>
1054 | 				<distCorrection_>0</distCorrection_>
1055 | 				<distCorrectionX_>0</distCorrectionX_>
1056 | 				<distCorrectionY_>0</distCorrectionY_>
1057 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1058 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1059 | 				<focalDistance_>0</focalDistance_>
1060 | 				<focalSlope_>0</focalSlope_>
1061 | 			</px>
1062 | 		</item>
1063 | 		<item>
1064 | 			<px class_id_reference="9" object_id="_19">
1065 | 				<id_>18</id_>
1066 | 				<rotCorrection_>0</rotCorrection_>
1067 | 				<vertCorrection_>-13</vertCorrection_>
1068 | 				<distCorrection_>0</distCorrection_>
1069 | 				<distCorrectionX_>0</distCorrectionX_>
1070 | 				<distCorrectionY_>0</distCorrectionY_>
1071 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1072 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1073 | 				<focalDistance_>0</focalDistance_>
1074 | 				<focalSlope_>0</focalSlope_>
1075 | 			</px>
1076 | 		</item>
1077 | 		<item>
1078 | 			<px class_id_reference="9" object_id="_20">
1079 | 				<id_>19</id_>
1080 | 				<rotCorrection_>0</rotCorrection_>
1081 | 				<vertCorrection_>3</vertCorrection_>
1082 | 				<distCorrection_>0</distCorrection_>
1083 | 				<distCorrectionX_>0</distCorrectionX_>
1084 | 				<distCorrectionY_>0</distCorrectionY_>
1085 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1086 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1087 | 				<focalDistance_>0</focalDistance_>
1088 | 				<focalSlope_>0</focalSlope_>
1089 | 			</px>
1090 | 		</item>
1091 | 		<item>
1092 | 			<px class_id_reference="9" object_id="_21">
1093 | 				<id_>20</id_>
1094 | 				<rotCorrection_>0</rotCorrection_>
1095 | 				<vertCorrection_>-11</vertCorrection_>
1096 | 				<distCorrection_>0</distCorrection_>
1097 | 				<distCorrectionX_>0</distCorrectionX_>
1098 | 				<distCorrectionY_>0</distCorrectionY_>
1099 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1100 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1101 | 				<focalDistance_>0</focalDistance_>
1102 | 				<focalSlope_>0</focalSlope_>
1103 | 			</px>
1104 | 		</item>
1105 | 		<item>
1106 | 			<px class_id_reference="9" object_id="_22">
1107 | 				<id_>21</id_>
1108 | 				<rotCorrection_>0</rotCorrection_>
1109 | 				<vertCorrection_>5</vertCorrection_>
1110 | 				<distCorrection_>0</distCorrection_>
1111 | 				<distCorrectionX_>0</distCorrectionX_>
1112 | 				<distCorrectionY_>0</distCorrectionY_>
1113 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1114 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1115 | 				<focalDistance_>0</focalDistance_>
1116 | 				<focalSlope_>0</focalSlope_>
1117 | 			</px>
1118 | 		</item>
1119 | 		<item>
1120 | 			<px class_id_reference="9" object_id="_23">
1121 | 				<id_>22</id_>
1122 | 				<rotCorrection_>0</rotCorrection_>
1123 | 				<vertCorrection_>-9</vertCorrection_>
1124 | 				<distCorrection_>0</distCorrection_>
1125 | 				<distCorrectionX_>0</distCorrectionX_>
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1130 | 				<focalSlope_>0</focalSlope_>
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1143 | 				<focalDistance_>0</focalDistance_>
1144 | 				<focalSlope_>0</focalSlope_>
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1157 | 				<focalDistance_>0</focalDistance_>
1158 | 				<focalSlope_>0</focalSlope_>
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1172 | 				<focalSlope_>0</focalSlope_>
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1214 | 				<focalSlope_>0</focalSlope_>
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1227 | 				<focalDistance_>0</focalDistance_>
1228 | 				<focalSlope_>0</focalSlope_>
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1241 | 				<focalDistance_>0</focalDistance_>
1242 | 				<focalSlope_>0</focalSlope_>
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1255 | 				<focalDistance_>0</focalDistance_>
1256 | 				<focalSlope_>0</focalSlope_>
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1269 | 				<focalDistance_>0</focalDistance_>
1270 | 				<focalSlope_>0</focalSlope_>
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1283 | 				<focalDistance_>0</focalDistance_>
1284 | 				<focalSlope_>0</focalSlope_>
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1297 | 				<focalDistance_>0</focalDistance_>
1298 | 				<focalSlope_>0</focalSlope_>
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1310 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1311 | 				<focalDistance_>0</focalDistance_>
1312 | 				<focalSlope_>0</focalSlope_>
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1319 | 				<vertCorrection_>0</vertCorrection_>
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1322 | 				<distCorrectionY_>0</distCorrectionY_>
1323 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1324 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1325 | 				<focalDistance_>0</focalDistance_>
1326 | 				<focalSlope_>0</focalSlope_>
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1338 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1339 | 				<focalDistance_>0</focalDistance_>
1340 | 				<focalSlope_>0</focalSlope_>
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1351 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1352 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1353 | 				<focalDistance_>0</focalDistance_>
1354 | 				<focalSlope_>0</focalSlope_>
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1361 | 				<vertCorrection_>0</vertCorrection_>
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1366 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1367 | 				<focalDistance_>0</focalDistance_>
1368 | 				<focalSlope_>0</focalSlope_>
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1381 | 				<focalDistance_>0</focalDistance_>
1382 | 				<focalSlope_>0</focalSlope_>
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1396 | 				<focalSlope_>0</focalSlope_>
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1409 | 				<focalDistance_>0</focalDistance_>
1410 | 				<focalSlope_>0</focalSlope_>
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1420 | 				<distCorrectionY_>0</distCorrectionY_>
1421 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1422 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1423 | 				<focalDistance_>0</focalDistance_>
1424 | 				<focalSlope_>0</focalSlope_>
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1436 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1437 | 				<focalDistance_>0</focalDistance_>
1438 | 				<focalSlope_>0</focalSlope_>
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1450 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
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1452 | 				<focalSlope_>0</focalSlope_>
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1476 | 				<distCorrectionY_>0</distCorrectionY_>
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1518 | 				<distCorrectionY_>0</distCorrectionY_>
1519 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
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1522 | 				<focalSlope_>0</focalSlope_>
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1532 | 				<distCorrectionY_>0</distCorrectionY_>
1533 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1534 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1535 | 				<focalDistance_>0</focalDistance_>
1536 | 				<focalSlope_>0</focalSlope_>
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1409 | 				<focalDistance_>0</focalDistance_>
1410 | 				<focalSlope_>0</focalSlope_>
1411 | 			</px>
1412 | 		</item>
1413 | 		<item>
1414 | 			<px class_id_reference="9" object_id="_44">
1415 | 				<id_>43</id_>
1416 | 				<rotCorrection_>0</rotCorrection_>
1417 | 				<vertCorrection_>0</vertCorrection_>
1418 | 				<distCorrection_>0</distCorrection_>
1419 | 				<distCorrectionX_>0</distCorrectionX_>
1420 | 				<distCorrectionY_>0</distCorrectionY_>
1421 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1422 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1423 | 				<focalDistance_>0</focalDistance_>
1424 | 				<focalSlope_>0</focalSlope_>
1425 | 			</px>
1426 | 		</item>
1427 | 		<item>
1428 | 			<px class_id_reference="9" object_id="_45">
1429 | 				<id_>44</id_>
1430 | 				<rotCorrection_>0</rotCorrection_>
1431 | 				<vertCorrection_>0</vertCorrection_>
1432 | 				<distCorrection_>0</distCorrection_>
1433 | 				<distCorrectionX_>0</distCorrectionX_>
1434 | 				<distCorrectionY_>0</distCorrectionY_>
1435 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1436 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1437 | 				<focalDistance_>0</focalDistance_>
1438 | 				<focalSlope_>0</focalSlope_>
1439 | 			</px>
1440 | 		</item>
1441 | 		<item>
1442 | 			<px class_id_reference="9" object_id="_46">
1443 | 				<id_>45</id_>
1444 | 				<rotCorrection_>0</rotCorrection_>
1445 | 				<vertCorrection_>0</vertCorrection_>
1446 | 				<distCorrection_>0</distCorrection_>
1447 | 				<distCorrectionX_>0</distCorrectionX_>
1448 | 				<distCorrectionY_>0</distCorrectionY_>
1449 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1450 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1451 | 				<focalDistance_>0</focalDistance_>
1452 | 				<focalSlope_>0</focalSlope_>
1453 | 			</px>
1454 | 		</item>
1455 | 		<item>
1456 | 			<px class_id_reference="9" object_id="_47">
1457 | 				<id_>46</id_>
1458 | 				<rotCorrection_>0</rotCorrection_>
1459 | 				<vertCorrection_>0</vertCorrection_>
1460 | 				<distCorrection_>0</distCorrection_>
1461 | 				<distCorrectionX_>0</distCorrectionX_>
1462 | 				<distCorrectionY_>0</distCorrectionY_>
1463 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1464 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1465 | 				<focalDistance_>0</focalDistance_>
1466 | 				<focalSlope_>0</focalSlope_>
1467 | 			</px>
1468 | 		</item>
1469 | 		<item>
1470 | 			<px class_id_reference="9" object_id="_48">
1471 | 				<id_>47</id_>
1472 | 				<rotCorrection_>0</rotCorrection_>
1473 | 				<vertCorrection_>0</vertCorrection_>
1474 | 				<distCorrection_>0</distCorrection_>
1475 | 				<distCorrectionX_>0</distCorrectionX_>
1476 | 				<distCorrectionY_>0</distCorrectionY_>
1477 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1478 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1479 | 				<focalDistance_>0</focalDistance_>
1480 | 				<focalSlope_>0</focalSlope_>
1481 | 			</px>
1482 | 		</item>
1483 | 		<item>
1484 | 			<px class_id_reference="9" object_id="_49">
1485 | 				<id_>48</id_>
1486 | 				<rotCorrection_>0</rotCorrection_>
1487 | 				<vertCorrection_>0</vertCorrection_>
1488 | 				<distCorrection_>0</distCorrection_>
1489 | 				<distCorrectionX_>0</distCorrectionX_>
1490 | 				<distCorrectionY_>0</distCorrectionY_>
1491 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1492 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1493 | 				<focalDistance_>0</focalDistance_>
1494 | 				<focalSlope_>0</focalSlope_>
1495 | 			</px>
1496 | 		</item>
1497 | 		<item>
1498 | 			<px class_id_reference="9" object_id="_50">
1499 | 				<id_>49</id_>
1500 | 				<rotCorrection_>0</rotCorrection_>
1501 | 				<vertCorrection_>0</vertCorrection_>
1502 | 				<distCorrection_>0</distCorrection_>
1503 | 				<distCorrectionX_>0</distCorrectionX_>
1504 | 				<distCorrectionY_>0</distCorrectionY_>
1505 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1506 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1507 | 				<focalDistance_>0</focalDistance_>
1508 | 				<focalSlope_>0</focalSlope_>
1509 | 			</px>
1510 | 		</item>
1511 | 		<item>
1512 | 			<px class_id_reference="9" object_id="_51">
1513 | 				<id_>50</id_>
1514 | 				<rotCorrection_>0</rotCorrection_>
1515 | 				<vertCorrection_>0</vertCorrection_>
1516 | 				<distCorrection_>0</distCorrection_>
1517 | 				<distCorrectionX_>0</distCorrectionX_>
1518 | 				<distCorrectionY_>0</distCorrectionY_>
1519 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1520 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1521 | 				<focalDistance_>0</focalDistance_>
1522 | 				<focalSlope_>0</focalSlope_>
1523 | 			</px>
1524 | 		</item>
1525 | 		<item>
1526 | 			<px class_id_reference="9" object_id="_52">
1527 | 				<id_>51</id_>
1528 | 				<rotCorrection_>0</rotCorrection_>
1529 | 				<vertCorrection_>0</vertCorrection_>
1530 | 				<distCorrection_>0</distCorrection_>
1531 | 				<distCorrectionX_>0</distCorrectionX_>
1532 | 				<distCorrectionY_>0</distCorrectionY_>
1533 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1534 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1535 | 				<focalDistance_>0</focalDistance_>
1536 | 				<focalSlope_>0</focalSlope_>
1537 | 			</px>
1538 | 		</item>
1539 | 		<item>
1540 | 			<px class_id_reference="9" object_id="_53">
1541 | 				<id_>52</id_>
1542 | 				<rotCorrection_>0</rotCorrection_>
1543 | 				<vertCorrection_>0</vertCorrection_>
1544 | 				<distCorrection_>0</distCorrection_>
1545 | 				<distCorrectionX_>0</distCorrectionX_>
1546 | 				<distCorrectionY_>0</distCorrectionY_>
1547 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1548 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1549 | 				<focalDistance_>0</focalDistance_>
1550 | 				<focalSlope_>0</focalSlope_>
1551 | 			</px>
1552 | 		</item>
1553 | 		<item>
1554 | 			<px class_id_reference="9" object_id="_54">
1555 | 				<id_>53</id_>
1556 | 				<rotCorrection_>0</rotCorrection_>
1557 | 				<vertCorrection_>0</vertCorrection_>
1558 | 				<distCorrection_>0</distCorrection_>
1559 | 				<distCorrectionX_>0</distCorrectionX_>
1560 | 				<distCorrectionY_>0</distCorrectionY_>
1561 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1562 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1563 | 				<focalDistance_>0</focalDistance_>
1564 | 				<focalSlope_>0</focalSlope_>
1565 | 			</px>
1566 | 		</item>
1567 | 		<item>
1568 | 			<px class_id_reference="9" object_id="_55">
1569 | 				<id_>54</id_>
1570 | 				<rotCorrection_>0</rotCorrection_>
1571 | 				<vertCorrection_>0</vertCorrection_>
1572 | 				<distCorrection_>0</distCorrection_>
1573 | 				<distCorrectionX_>0</distCorrectionX_>
1574 | 				<distCorrectionY_>0</distCorrectionY_>
1575 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1576 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1577 | 				<focalDistance_>0</focalDistance_>
1578 | 				<focalSlope_>0</focalSlope_>
1579 | 			</px>
1580 | 		</item>
1581 | 		<item>
1582 | 			<px class_id_reference="9" object_id="_56">
1583 | 				<id_>55</id_>
1584 | 				<rotCorrection_>0</rotCorrection_>
1585 | 				<vertCorrection_>0</vertCorrection_>
1586 | 				<distCorrection_>0</distCorrection_>
1587 | 				<distCorrectionX_>0</distCorrectionX_>
1588 | 				<distCorrectionY_>0</distCorrectionY_>
1589 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1590 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1591 | 				<focalDistance_>0</focalDistance_>
1592 | 				<focalSlope_>0</focalSlope_>
1593 | 			</px>
1594 | 		</item>
1595 | 		<item>
1596 | 			<px class_id_reference="9" object_id="_57">
1597 | 				<id_>56</id_>
1598 | 				<rotCorrection_>0</rotCorrection_>
1599 | 				<vertCorrection_>0</vertCorrection_>
1600 | 				<distCorrection_>0</distCorrection_>
1601 | 				<distCorrectionX_>0</distCorrectionX_>
1602 | 				<distCorrectionY_>0</distCorrectionY_>
1603 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1604 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1605 | 				<focalDistance_>0</focalDistance_>
1606 | 				<focalSlope_>0</focalSlope_>
1607 | 			</px>
1608 | 		</item>
1609 | 		<item>
1610 | 			<px class_id_reference="9" object_id="_58">
1611 | 				<id_>57</id_>
1612 | 				<rotCorrection_>0</rotCorrection_>
1613 | 				<vertCorrection_>0</vertCorrection_>
1614 | 				<distCorrection_>0</distCorrection_>
1615 | 				<distCorrectionX_>0</distCorrectionX_>
1616 | 				<distCorrectionY_>0</distCorrectionY_>
1617 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1618 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1619 | 				<focalDistance_>0</focalDistance_>
1620 | 				<focalSlope_>0</focalSlope_>
1621 | 			</px>
1622 | 		</item>
1623 | 		<item>
1624 | 			<px class_id_reference="9" object_id="_59">
1625 | 				<id_>58</id_>
1626 | 				<rotCorrection_>0</rotCorrection_>
1627 | 				<vertCorrection_>0</vertCorrection_>
1628 | 				<distCorrection_>0</distCorrection_>
1629 | 				<distCorrectionX_>0</distCorrectionX_>
1630 | 				<distCorrectionY_>0</distCorrectionY_>
1631 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1632 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1633 | 				<focalDistance_>0</focalDistance_>
1634 | 				<focalSlope_>0</focalSlope_>
1635 | 			</px>
1636 | 		</item>
1637 | 		<item>
1638 | 			<px class_id_reference="9" object_id="_60">
1639 | 				<id_>59</id_>
1640 | 				<rotCorrection_>0</rotCorrection_>
1641 | 				<vertCorrection_>0</vertCorrection_>
1642 | 				<distCorrection_>0</distCorrection_>
1643 | 				<distCorrectionX_>0</distCorrectionX_>
1644 | 				<distCorrectionY_>0</distCorrectionY_>
1645 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1646 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1647 | 				<focalDistance_>0</focalDistance_>
1648 | 				<focalSlope_>0</focalSlope_>
1649 | 			</px>
1650 | 		</item>
1651 | 		<item>
1652 | 			<px class_id_reference="9" object_id="_61">
1653 | 				<id_>60</id_>
1654 | 				<rotCorrection_>0</rotCorrection_>
1655 | 				<vertCorrection_>0</vertCorrection_>
1656 | 				<distCorrection_>0</distCorrection_>
1657 | 				<distCorrectionX_>0</distCorrectionX_>
1658 | 				<distCorrectionY_>0</distCorrectionY_>
1659 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1660 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1661 | 				<focalDistance_>0</focalDistance_>
1662 | 				<focalSlope_>0</focalSlope_>
1663 | 			</px>
1664 | 		</item>
1665 | 		<item>
1666 | 			<px class_id_reference="9" object_id="_62">
1667 | 				<id_>61</id_>
1668 | 				<rotCorrection_>0</rotCorrection_>
1669 | 				<vertCorrection_>0</vertCorrection_>
1670 | 				<distCorrection_>0</distCorrection_>
1671 | 				<distCorrectionX_>0</distCorrectionX_>
1672 | 				<distCorrectionY_>0</distCorrectionY_>
1673 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1674 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1675 | 				<focalDistance_>0</focalDistance_>
1676 | 				<focalSlope_>0</focalSlope_>
1677 | 			</px>
1678 | 		</item>
1679 | 		<item>
1680 | 			<px class_id_reference="9" object_id="_63">
1681 | 				<id_>62</id_>
1682 | 				<rotCorrection_>0</rotCorrection_>
1683 | 				<vertCorrection_>0</vertCorrection_>
1684 | 				<distCorrection_>0</distCorrection_>
1685 | 				<distCorrectionX_>0</distCorrectionX_>
1686 | 				<distCorrectionY_>0</distCorrectionY_>
1687 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1688 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1689 | 				<focalDistance_>0</focalDistance_>
1690 | 				<focalSlope_>0</focalSlope_>
1691 | 			</px>
1692 | 		</item>
1693 | 		<item>
1694 | 			<px class_id_reference="9" object_id="_64">
1695 | 				<id_>63</id_>
1696 | 				<rotCorrection_>0</rotCorrection_>
1697 | 				<vertCorrection_>0</vertCorrection_>
1698 | 				<distCorrection_>0</distCorrection_>
1699 | 				<distCorrectionX_>0</distCorrectionX_>
1700 | 				<distCorrectionY_>0</distCorrectionY_>
1701 | 				<vertOffsetCorrection_>0</vertOffsetCorrection_>
1702 | 				<horizOffsetCorrection_>0</horizOffsetCorrection_>
1703 | 				<focalDistance_>0</focalDistance_>
1704 | 				<focalSlope_>0</focalSlope_>
1705 | 			</px>
1706 | 		</item>
1707 | 	</points_>
1708 | </DB>
1709 | </boost_serialization>
1710 | 


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