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URG3DLibrary
Overview
It is a library to acquire measured distance / intensity information and 3D points.
It performs TCP / IP communication with 3D-URG series sensors, decodes a special protocol (Volumetric Scanning Sensor Protocol).
License
This software is licensed under the Simplified BSD License.
See the copyright.txt for the actual license text.
Download
Please download from the following URL.
https://sourceforge.net/projects/urgnetwork/files/urg3d_library/
Build the library
Please expand urg3d_library-X.X.X.zip and use the following document as a reference.
Visual Studio Solution for (vs2010 and vs 2012) (Windows)
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Build the static library "urg3d.lib" with urg3d_library-X.X.X/vs201*/urg3d.sln.
(Visual studio 2010 project and visual studio 2012 project exist.)
Sample solutions that use urg3d.lib exist in urg3d_library-X.X.X/vs201*/.
Each sample can be tested on the above visual studio project if it is set as the startup project.
Visual Studio bat compile (Windows)
Copy vsvars32.bat to urg3d_library-X.X.X/windowsexe.
Execute urg3d_library-X.X.X/windowsexe/compile.bat to generate the static library urg3d.lib and samples.
(If you want to clear created files, you can use urg3d_library-X.X.X/windowsexe/cleanobj.bat.)
gcc (Linux, MinGW)
Type "make" to compile the static library "liburg3d.a" and the shared library "liburg3d.so".
If the compilation is successful, these libraries are created in urg3d_library-X.X.X/src/.
(If you want to install the library to your system, execute "make install" as root.)
Example programs exist in urg3d_library-X.X.X/samples.
Data format
Define the separation of data measured by scanning as follows.
| Name | Meaning |
|---|---|
| echo | One measurement for a specific direction |
| spot | Total echoes for a particular direction (a collection of echoes) |
| line | A set of spots for one cycle of vertical scanning |
| field | A set of spots for one cycle of horizontal scanning |
| frame | A set of multiple fields by interlace |
Example programs
There are multiple sample programs, all of which connect to the sensor with IP address 192.168.0.10.
high_1_field_data_file
Continuously acquire distance / intensity for each field without interlacing,
Output the converted data to csv file (output.csv).
high_1_frame_4_field_data_file
Continuously acquire the distance and intensity for each frame set to horizontal interlace 4.
Output the converted data to csv file (output.csv).
high_1_frame_4_vfield_2_hfield_data_file
Continuously acquire distance and intensity for each frame set to horizontal interlace 2 and vertical interlace 4
Output the converted data to csv file (output.csv).
high_1_line_data_file
Continuously acquire distance and intensity for each line,
Output the converted data to csv file (output.csv).
high_get_auxiliary
Continuously acquire data of auxiliary sensors (angular velocity, acceleration, geomagnetism, temperature),
Output to csv file (yvt_x002_auxilary_log.csv).
high_get_version
Acquires sensor version information and outputs it to the console.
low_get_ax
Raw data of auxiliary sensors (angular velocity, acceleration, geomagnetism, temperature) are continuously acquired and output to the console.
low_get_ri
Continuous acquisition of raw data of distance and intensity is output to the console.
low_get_ro
Continuous acquisition of raw data of distance is output to the console.
low_get_multi_data
Raw data of distance, intensity and auxiliary sensor are continuously acquired, and the number of acquisitions is output to the console.
low_get_ro_with_error_reboot
Continuous acquisition of raw distance data and restarts the sensor if an error occurs.
low_user_request
Sends the command specified by the command line argument and outputs the received data to the console.
URG3D library with PCL
This is a sample code that uses Point Cloud Library (PCL) published by Open Perception, Inc..
Converts distance and intensity data measured by 3D-URG to pcl::PointCloud＜pcl::PointXYZI＞.
license
simplified BSD license
download
Source code (zip compression) (converter only)
https://sourceforge.net/projects/urgnetwork/files/urg3d_library/urg3d_to_pcl.zip/download
Sample program
pcl::visualization::CloudViewer use.
vs2010 project
* boost 1.57.0, Eigen 3.2.4, FLANN 1.8.4, Qhull 2012.1 for Windows, VTK 6.2.0, PCL 1.7.2 Use.
If PCL or peripheral libraries are not properly installed, you cannot build. *