PCL Developers blog

Keven Ring

project:Velodyne Code Sprint

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Velodyne Laser Code Sprint (VLCS) Update
Wednesday, December 05, 2012

I’m pleased to announce that PCL now supports the Velodyne High Definition Laser (HDL) -32 and -64 lasers. The interface is provided as a Grabber (HDL_Grabber) and accepts packets from the network (live) or PCAP file (recorded). Two sample programs, pcl_hdl_grabber and pcl_hdl_viewer_simple are provided to demonstrate the capabilities of the system. libpcap-devel is required to build the PCAP reading portions of code.

Sample PCAP Files are provided by Velodyne: http://velodyne.com/lidar/doc/Sample%20sets/HDL-32/

The image below came from the Building-Side.pcap.