41 #include "pcl/pcl_config.h"
43 #include <pcl/io/hdl_grabber.h>
44 #include <pcl/io/grabber.h>
46 #include <boost/asio.hpp>
68 VLPGrabber (
const boost::asio::ip::address& ipAddress,
69 const std::uint16_t port);
79 getName ()
const override;
86 setLaserColorRGB (
const pcl::RGB& color,
87 const std::uint8_t laserNumber);
93 template<
typename IterT>
void
96 std::copy (begin, end, laser_rgb_mapping_);
102 getMaximumNumberOfLasers ()
const override;
105 static const std::uint8_t VLP_MAX_NUM_LASERS = 16;
106 static const std::uint8_t VLP_DUAL_MODE = 0x39;
109 pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
114 boost::asio::ip::address
115 getDefaultNetworkAddress ()
override;
118 initializeLaserMapping ();
121 loadVLP16Corrections ();