hdl_grabber only allows one Velodyne unit to be used at a time · PointCloudLibrary/pcl#1713

(3 评论) (0 反应) (0 负责人)C++ (9,023 star) (4,506 fork)batch import

good first issuekind: todomodule: io

描述

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.

贡献者指南

技术栈: cpp
领域: backend
议题类型: bug
难度: 3
预计时间: 1-3 hours
活动状态: stale
清晰度: mostly clear
前置要求: basic C++UDP socket programming
新手友好度: 20
研究方向: 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.