Interface for inertial(oxts2000) and lidar(velodyne hdl-32e)

Features

• TCP operation interface
• UDP operation interface
• Gaussian projection (GPS coordinate system <-> local Cartesian coordinate system)

Requirements

• C++ compiler (support C++11)
• boost library (version 1.61)

Getting started

• Download boost library : contact 15lwang@tongji.edu.cn

For Visual Studio 2015

• Create New Project

 File -> New -> Project -> Win32 -> Win32 console

• Configure Project

 Right click project name -> Property -> VC++ directory -> Include directory
 *add boost include directory
 *add inertial_lidar directory
 In Lib Directory
 *add boost lib directory
 Linker -> Input -> dependency files
 *add libboost_thread-vc140-mt-gd-1_61.lib（Debug）
 *add libboost_thread-vc140-mt-1_61.lib（Release）

• Add source files

 inertial_lidar\decoder\NComRxC.cpp
 inertial_lidar\device\oxts2000.cpp
 inertial_lidar\device\velodyneHDL32E.cpp
 inertial_lidar\device\base\GPS_INS_IMU.cpp
 inertial_lidar\device\base\LiDAR.cpp
 inertial_lidar\device\base\sensorDevice.cpp
 inertial_lidar\projection\gaussianProjection.cpp
 inertial_lidar\udp\UDPClient.cpp
 inertial_lidar\udp\UDPServer.cpp
 inertial_lidar\tcp\TCPClient.cpp
 inertial_lidar\tcp\TCPServer.cpp

Usage examples

inertial sensor（Please include oxts2000.h）

• create an instance，online model，auto saving to disk，set receiving port: 9399

 oxts2000 oxts2000Device(sensorDevice::modeType::online, sensorDevice::saveType::save, 9399);

• set disk file's prefix name and suffix name

 oxts2000Device.setFileName(filePrefix, fileSuffix);

• get current data

 oxts2000Device.getData(data);

LiDAR（Please include velodyneHDL32E.h）

• create an instance，online model，auto saving to disk

 velodyneHDL32E velodyneDevice(sensorDevice::modeType::online, sensorDevice::saveType::save);

• set disk file's prefix name and suffix name

 velodyneDevice.setFileName(filePrefix, fileSuffix);

• get current data

 oxts2000Device.getData(data);

Help and Support

contact: 15lwang@tongji.edu.cn