Back to Top
English | Japanese
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).
This software is licensed under the Simplified BSD License.
See the copyright.txt for the actual license text.
Please download from the following URL.
https://sourceforge.net/projects/urgnetwork/files/urg3d_library/
Please expand urg3d_library-X.X.X.zip and use the following document as a reference.
_
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.
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.)
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.
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 |
There are multiple sample programs, all of which connect to the sensor with IP address 192.168.0.10.
Continuously acquire distance / intensity for each field without interlacing,
Output the converted data to csv file (output.csv).
Continuously acquire the distance and intensity for each frame set to horizontal interlace 4.
Output the converted data to csv file (output.csv).
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).
Continuously acquire distance and intensity for each line,
Output the converted data to csv file (output.csv).
Continuously acquire data of auxiliary sensors (angular velocity, acceleration, geomagnetism, temperature),
Output to csv file (yvt_x002_auxilary_log.csv).
Acquires sensor version information and outputs it to the console.
Raw data of auxiliary sensors (angular velocity, acceleration, geomagnetism, temperature) are continuously acquired and output to the console.
Continuous acquisition of raw data of distance and intensity is output to the console.
Continuous acquisition of raw data of distance is output to the console.
Raw data of distance, intensity and auxiliary sensor are continuously acquired, and the number of acquisitions is output to the console.
Continuous acquisition of raw distance data and restarts the sensor if an error occurs.
Sends the command specified by the command line argument and outputs the received data to the console.
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>.
simplified BSD license
Source code (zip compression) (converter only)
https://sourceforge.net/projects/urgnetwork/files/urg3d_library/urg3d_to_pcl.zip/download
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. *