PointCloudLibrary / PointCloudLibrary/pcl
hdl_grabber only allows one Velodyne unit to be used at a time
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- Dominant language
- C++
- Stars
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- Forks
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- Avg merge
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- Merged PRs (30d)
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Description
The hdl_grabber module only allows one velodyne module to be used on a given port. In many environments it is necessary to bring in multiple LiDAR units over a network. Due to the code binding to the UDP port, additional units could not be created despite using the IP filter.
- Operating System and version: Windows 7
- Compiler: Visual Studio 2015 (Visual C++ v14)
- PCL Version: 1.80
EDIT: I have tried to attached my working code to fix this issue; however, github is not allowing it at the moment even though it is a zip file. Will try soon.
The code may not be perfectly formatted as I am new to submitting to github projects, but it does work. I bring in and fuse 4 LiDAR units using the code.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start at the hdl_grabber module and trace how it binds the UDP port and applies the IP filter. Reproduce the reported case with multiple Velodyne units on one port, then verify that separate units can be created and their point data fused without preventing additional units from starting.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, networking
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100