Drawing Point Cloud retrieve from Velodyne VLP-16

CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )

# Create Project
project( solution )
add_executable( project main.cpp )

# Set StartUp Project (Option)
# (This setting is able to enable by using CMake 3.6.0 RC1 or later.)
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
find_package( PCL 1.8 REQUIRED )

if( PCL_FOUND )
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )

  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )
  
  # For Use Not PreCompiled Features 
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )

  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
endif()

main.cpp

#include <iostream>
#include <string>
#include <vector>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/vlp_grabber.h>
#include <pcl/console/parse.h>
#include <pcl/visualization/pcl_visualizer.h>

// Point Type
// pcl::PointXYZ, pcl::PointXYZI, pcl::PointXYZRGBA
typedef pcl::PointXYZI PointType;

int main( int argc, char *argv[] )
{
    // Command-Line Argument Parsing
    if( pcl::console::find_switch( argc, argv, "-help" ) ){
        std::cout << "usage: " << argv[0]
            << " [-ipaddress <192.168.1.70>]"
            << " [-port <2368>]"
            << " [-pcap <*.pcap>]"
            << " [-help]"
            << std::endl;
        return 0;
    }

    std::string ipaddress( "192.168.1.70" );
    std::string port( "2368" );
    std::string pcap;

    pcl::console::parse_argument( argc, argv, "-ipaddress", ipaddress );
    pcl::console::parse_argument( argc, argv, "-port", port );
    pcl::console::parse_argument( argc, argv, "-pcap", pcap );

    std::cout << "-ipadress : " << ipaddress << std::endl;
    std::cout << "-port : " << port << std::endl;
    std::cout << "-pcap : " << pcap << std::endl;

    // Point Cloud
    pcl::PointCloud<PointType>::ConstPtr cloud;

    // PCL Visualizer
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer( new pcl::visualization::PCLVisualizer( "Velodyne Viewer" ) );
    viewer->addCoordinateSystem( 3.0, "coordinate" );
    viewer->setBackgroundColor( 0.0, 0.0, 0.0, 0 );
    viewer->initCameraParameters();
    viewer->setCameraPosition( 0.0, 0.0, 30.0, 0.0, 1.0, 0.0, 0 );

    // Point Cloud Color Hndler
    pcl::visualization::PointCloudColorHandler<PointType>::Ptr handler;
    const std::type_info& type = typeid( PointType );
    if( type == typeid( pcl::PointXYZ ) ){
        std::vector<double> color = { 255.0, 255.0, 255.0 };
        boost::shared_ptr<pcl::visualization::PointCloudColorHandlerCustom<PointType>> color_handler( new pcl::visualization::PointCloudColorHandlerCustom<PointType>( color[0], color[1], color[2] ) );
        handler = color_handler;
    }
    else if( type == typeid( pcl::PointXYZI ) ){
        boost::shared_ptr<pcl::visualization::PointCloudColorHandlerGenericField<PointType>> color_handler( new pcl::visualization::PointCloudColorHandlerGenericField<PointType>( "intensity" ) );
        handler = color_handler;
    }
    else if( type == typeid( pcl::PointXYZRGBA ) ){
        boost::shared_ptr<pcl::visualization::PointCloudColorHandlerRGBField<PointType>> color_handler( new pcl::visualization::PointCloudColorHandlerRGBField<PointType>() );
        handler = color_handler;
    }
    else{
        throw std::runtime_error( "This PointType is unsupported." );
    }

    // Retrieved Point Cloud Callback Function
    boost::mutex mutex;
    boost::function<void( const pcl::PointCloud<PointType>::ConstPtr& )> function =
        [ &cloud, &mutex ]( const pcl::PointCloud<PointType>::ConstPtr& ptr ){
            boost::mutex::scoped_lock lock( mutex );

            /* Point Cloud Processing */

            cloud = ptr;
        };

    // VLP Grabber
    boost::shared_ptr<pcl::VLPGrabber> grabber;
    if( !pcap.empty() ){
        std::cout << "Capture from PCAP..." << std::endl;
        grabber = boost::shared_ptr<pcl::VLPGrabber>( new pcl::VLPGrabber( pcap ) );
    }
    else if( !ipaddress.empty() && !port.empty() ){
        std::cout << "Capture from Sensor..." << std::endl;
        grabber = boost::shared_ptr<pcl::VLPGrabber>( new pcl::VLPGrabber( boost::asio::ip::address::from_string( ipaddress ), boost::lexical_cast<unsigned short>( port ) ) );
    }

    // Register Callback Function
    boost::signals2::connection connection = grabber->registerCallback( function );

    // Start Grabber
    grabber->start();

    while( !viewer->wasStopped() ){
        // Update Viewer
        viewer->spinOnce();

        boost::mutex::scoped_try_lock lock( mutex );
        if( lock.owns_lock() && cloud ){
            // Update Point Cloud
            handler->setInputCloud( cloud );
            if( !viewer->updatePointCloud( cloud, *handler, "cloud" ) ){
                viewer->addPointCloud( cloud, *handler, "cloud" );
            }
        }
    }

    // Stop Grabber
    grabber->stop();

    // Disconnect Callback Function
    if( connection.connected() ){
        connection.disconnect();
    }

    return 0;
}

@pavankumarbn : add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11") in your CMakelists.txt.

@Amamphiswana Thank you:)

is that possible that i can do point cloud stitching here? I try to use the point cloud to concat however, i cannot point the constptr cloud to the new point cloud concated @UnaNancyOwen

Hi JorgeVilchis,

Thanks for your help. Are you able to visualize point cloud using this code? Because when I am running this code and giving input saved pcap file, then one window with 3 axis getting opening and there is no point cloud data.

Can you help me regarding this isssue.
@shaikhibrahim951, I have the same problem with you. Did you find a solution to this issue? I've been troubled for several days. Plz help!!!! T T

I'm also having the same problem as @shaikhibrahim951 and @LiShuaixin. Adding set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11") or set(CMAKE_CXX_STANDARD 11) did not help, nor trying with full path to .pcap file. Stream from lidar works perfectly.

My system is Ubuntu 16.04 and pcl 1.8.
I have compiled the codes under /build with cmake .. and make.
I got the same issue as @LiShuaixin. There is no pointcloud streaming from the pcap file. Can anyone help with this?

Hi, i'm very new to PCL and CMake. I'm trying to use this code to load the .pcap data by using VScode, however, the problem is ".../main.cpp:81: undefined reference to ‘pcl::VLPGrabber::VLPGrabber(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’ ". The line 81 is "grabber = boost::shared_ptrpcl::VLPGrabber( new pcl::VLPGrabber( pcap ) );" Can anyone help me? I'll appreciate it a lot!

---

`[build] Starting build

[proc] Executing command: /usr/bin/cmake --build /home/elric/project/c++/vscodedemo/build --config Debug --target all -- -j 14

[build] [ 50%] Linking CXX executable project

[build] CMakeFiles/project.dir/main.cpp.o：in function ‘main’：

[build] /home/elric/project/c++/vscodedemo/main.cpp:81：undefined reference to ‘pcl::VLPGrabber::VLPGrabber(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’

[build] /home/elric/project/c++/vscodedemo/main.cpp:85：undefined reference to ‘pcl::VLPGrabber::VLPGrabber(boost::asio::ip::address const&, unsigned short)’

[build] collect2: error: ld returned 1 exit status

[build] make[2]: *** [project] Error 1

[build] CMakeFiles/project.dir/build.make:374: recipe for target 'project' failed

[build] CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/project.dir/all' failed

[build] make[1]: *** [CMakeFiles/project.dir/all] Error 2

[build] make: *** [all] Error 2

[build] Makefile:83: recipe for target 'all' failed

[build] Build finished with exit code 2`

Hi, i'm very new to PCL and CMake. I'm trying to use this code to load the .pcap data by using VScode, however, the problem is ".../main.cpp:81: undefined reference to ‘pcl::VLPGrabber::VLPGrabber(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’ ". The line 81 is "grabber = boost::shared_ptrpcl::VLPGrabber( new pcl::VLPGrabber( pcap ) );" Can anyone help me? I'll appreciate it a lot!

`[build] Starting build

[proc] Executing command: /usr/bin/cmake --build /home/elric/project/c++/vscodedemo/build --config Debug --target all -- -j 14

[build] [ 50%] Linking CXX executable project

[build] CMakeFiles/project.dir/main.cpp.o：in function ‘main’：

[build] /home/elric/project/c++/vscodedemo/main.cpp:81：undefined reference to ‘pcl::VLPGrabber::VLPGrabber(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’

[build] /home/elric/project/c++/vscodedemo/main.cpp:85：undefined reference to ‘pcl::VLPGrabber::VLPGrabber(boost::asio::ip::address const&, unsigned short)’

[build] collect2: error: ld returned 1 exit status

[build] make[2]: *** [project] Error 1

[build] CMakeFiles/project.dir/build.make:374: recipe for target 'project' failed

[build] CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/project.dir/all' failed

[build] make[1]: *** [CMakeFiles/project.dir/all] Error 2

[build] make: *** [all] Error 2

[build] Makefile:83: recipe for target 'all' failed

[build] Build finished with exit code 2`

I solved this problem by myself. The reason caused this problem is that i download PCL1.7 before, and it linked to this version's LIB, therefore, it cann't find the VLPGrabber.h in PCL1.7. I uninstall the PCL1.7 and PCL1.8 and reinstall the PCL1.8 for Ubuntu, the program worked.

hi,
I got same issue
when I am running this code and giving input saved pcap file, then one window with 3 axis getting opening and there is no point cloud data

so please help me
thanks
kalai

I'm also having the same problem as @shaikhibrahim951 and @LiShuaixin. Adding set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11") or set(CMAKE_CXX_STANDARD 11) did not help, nor trying with full path to .pcap file. Stream from lidar works perfectly.

hi,
got same issue, i directly given full path only
when I am running this code and giving input saved pcap file, then one window with 3 axis getting opening and there is no point cloud data

so please help me
thanks
kalai

My system is Ubuntu 16.04 and pcl 1.8.
I have compiled the codes under /build with cmake .. and make.
I got the same issue as @LiShuaixin. There is no pointcloud streaming from the pcap file. Can anyone help with this?

hi songwenhuang,

you can install libpcap with in the PCL folder .
open pcl folder using terminal and give below command

sudo apt-get install libpcap-dev

then open the your build folder then cmake and make after that it will work

thanks
kalai

Hi, I'm visualizing the point cloud with your code and using it well.
Can anyone know how to distinguish dynamic and static objects?

Hello all,

When I am trying to retrieve the data from pcap files I am getting the segmentation fault (core dumped). Did anyone experienced the same error.
Any leads will be helpful

Hi, I am having below issue while reading .pcap file using vlpgrabber:

double free or corruption (out)
Aborted (core dumped)

any suggestion please?