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笔者评:从git的源码开发速度图来看,近半年PCL的开发力度和速度相比以前慢很多,估计是忙着给赞助商做不开源的项目或者修改2.0的框架吧,此处blog发布的是对来自波音公司的Spectrscan3D设备的支持,目前Spectroscan3D的驱动源码并未与PCL源码进行合并,单独存在git链接。目前开发的驱动分块,第一块是单独存在的驱动,第二块是与PCL兼容的grabber接口,接下来开发实时获取和显示,敬请期待PCL中国进一步的跟踪报道。
The first milestone of the PCL Spectrolab Code Sprint has been completed. I received the Spectroscan 3D two weeks ago and I have used it to write a driver for the camera. In addition, I have created a simple 3D viewer for the camera which streams the data to a PCLVisualizer. All of the code for the driver (and the rest of the code sprint) can be found here. There are no Spectroscan3D units commericially available right now, but by the time I am done there will be a good set of open source tools to visualize and manipulate the data.
Here is an example scan from the camera.
The Spectroscan3D driver is split into two components. The first component encapsulates the communication with the lidar camera. It speaks the lidar’s UDP protocol and handles receiving the raw range/amplitude images from the scanner. This component is meant to be independent of PCL. This way future developers can use it with other software systems as well. The second layer wraps the driver in pcl grabber interface and transforms the range image into a point cloud. You can register for either PointXYZ or PointXYZI point cloud events from the scanner.
The next stage of the code sprint will be writing a visualizer capable of controlling the camera like a video camera. It will be able to watch a live stream, record the stream, or play back an old stream from disk. Stay tuned for more updates!
参考:
https://github.com/adasta/spectrolab