在使用velodyne的时候,PCAP数据解析比较麻烦,为此写了一点代码来专门解析PCAP文件,将PCAP格式数据转为XYZ格式的点云数据,写完之后发现其实代码也不多,更轻量级了,代码如下:
// readpcap.cpp : 定义控制台应用程序的入口点。
//
#define _CRT_SECURE_NO_DEPRECATE
#define _CRT_SECURE_NO_WARNINGS
#include "pcap.h"
#include "stdio.h"
#include "math.h"
#include<stdlib.h>
#include<conio.h>
#include "velodyneptk.h"
#define LINE_LEN 16
int Azimuth_[12]; //原始值
float Azimuth_Value_[12];
int Distance_[12][32]; //原始值
float Distance_Value_[12][32];
int Atten_[12][32]; //原始值
Usefulmessage UsefulData;
int framecount;
int frameint;
//计算时间戳函数
float Timeoffsetvec[384];
float lasersinvec[384];
float lasercosvec[384];
void Timeoffsetfun()
{
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 16; j++)
{
Timeoffsetvec[i * 16 + j] = i*55.296 + j*2.304;
lasersinvec[i * 16 + j] = LASER_SIN[j];
lasercosvec[i * 16 + j] = LASER_COS[j];
}
}
}
void dispatcher_handler(u_char *, const struct pcap_pkthdr *, const u_char *);
//byte转int Azimuth
int bytes2ToInt(byte* bytes)
{
int addr = bytes[0] & 0xFF;
addr |= (bytes[1]<<8 & 0xFF00);
return addr;
}
int bytes1ToInt(byte* bytes)
{
int addr = bytes[0] & 0xFF;
return addr;
}
//byte转int Azimuth
long int bytes4ToInt(byte* bytes)
{
long int addr = bytes[0] & 0xFF;
addr |= (bytes[1] << 8 & 0xFF00);
addr |= ((bytes[2] << 16) & 0xFF0000);
addr |= ((bytes[3] << 24) & 0xFF000000);
return addr;
}
float stamptimecount = 0;
void UDPtoXYZfun(Usefulmessage data);
void UDPtoXYZfunALL(Usefulmessage data);
errno_t err;
int _tmain(int argc, _TCHAR* argv[])
{
pcap_t *fp;
char errbuf[PCAP_ERRBUF_SIZE];
Usefulmessage UsefulData;
Timeoffsetfun();
framecount = 0;
fp = pcap_open_offline("1.pcap",errbuf);
pcap_loop(fp, 0, dispatc