Ocular Robotics is sponsoring the development of an efficient pcl::Grabber driver interface for the RE0x laser sensors, as well as various enhancements to our PCL visualization libraries to be able to handle both larger datasets as well as process data packets coming from these sensors faster.
For a complete list of all the present and past PCL code sprints please visit http://www.pointclouds.org/blog.
Click on any of the links below to find out more about our team of PCL developers that are participating in the sprint:
Here’s a video demonstrating the RobotEye Viewer application with the Ocular Robotics RE05 lidar sensor. See my previous blog post for a description of the application.
I’ve finished developing a new pcl::Grabber called the pcl::RobotEyeGrabber, and a visualization application called RobotEye Viewer. The grabber uses the boost asio library to do asynchronous I/O on a UDP socket using a separate thread. The RobotEye sensor sends lidar data in UDP data packets which are converted by the grabber into pcl::PointCloud data. The RobotEye Viewer is a Qt application that uses the QVTKWidget to embed a pcl::visualization::PCLVisualizer visualization window.
I developed the code using MacOSX and Ubuntu Linux. I ssh to a machine that is located at the Ocular Robotics lab and has a live sensor connected to it. With this machine, I was able to run the RobotEye Viewer application remotely using the RE05 lidar sensor. Ocular Robotics setup a webcam that points at the RobotEye sensor so I can see it in action as I run the application remotely. This setup worked out very well. Here’s a screenshot of the application, stay tuned for a video.
Ocular Robotics sent me some lidar scans to get started with. The data is stored in binary files with azimuth, elevation, range, and intensity fields. I wrote some code to load the binary data and convert it to the pcl::PointCloud data structure. From there, I saved the data in the pcd file format and opened it with ParaView using the PCL Plugin for ParaView. I used ParaView’s animation controls to create a video of the lidar scan:
I’m excited to start the PCL - Ocular Robotics code sprint. This week I’ll have a kickoff meeting over Skype with engineers from Ocular Robotics. In the meantime, I’m reading about the RE0x sensors and updating my PCL build directories!