PointCloudLibrary/pcl

hdl_grabber only allows one Velodyne unit to be used at a time

Open

#1,713 opened on 2016年9月6日

GitHub で見る
 (3 comments) (0 reactions) (0 assignees)C++ (9,023 stars) (4,506 forks)batch import
good first issuekind: todomodule: io

説明

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.

コントリビューターガイド

技術スタック
cpp
領域
backend
Issue 種別
bug
難度新しい貢献者にとっての実装難度です。1 は非常に小さな変更、5 は専門的な作業です。
3
推定時間経験ある貢献者が調査、実装、テスト、pull request 準備にかけるおおよその時間範囲です。
1-3 hours
活動状況Issue が今どれだけ取り組みやすいかを示します。新しい、活発、古い、ブロック中、またはメンテナー入力待ちなどです。
stale
明確さ期待される変更、受け入れ条件、次の手順がどれだけ明確かを示します。
mostly clear
前提条件
basic C++UDP socket programming
初心者向け度初回貢献者にどれだけ取り組みやすいかを 1-100 で推定したスコアです。
20
調査方針
Review the hdl grabber source code in PCL repository, specifically the UDP port binding logic. The issue states that the module binds to a specific port, preventing multiple Velodyne units. Investigate how to allow binding to multiple ports or use SO REUSEADDR. The original poster mentioned they had a fix but couldn't attach it; look for any follow up comments or attempts to merge. The goal is to enable simultaneous use of multiple Velodyne LiDAR units.