pcap如何转换为pcd_Velodyne线性激光雷达pcap文件格式及写入、数据解析 Label:激光雷达...

roslaunch loam_velodyne loam_velodyne.launch

rosbag record -o out /velodyne_points

rosbag play nsh_indoor_outdoor.bag

最后会记录一个名为out_(记录时间)的.bag包

然后将.bag包转化为 .pcd文件

rosrun pcl_ros bag_to_pcd  out_.bag(上面记录的那个包) /cloud  pcd

此时转化为一个名为cloud的pcd集，进入pcd那个文件夹

用pcl_viewer last.pcd(最后一帧pcd)然后就看到了最终的结果

一 基本格式：

文件头 数据包头 数据报数据包头数据报......

二、文件头：

文件头结构体

sturct pcap_file_header

{

DWORD magic;

DWORD version_major;

DWORD version_minor;

DWORD thiszone;

DWORD sigfigs;

DWORD snaplen;

DWORD linktype;

}

说明：

1、标识位：32位的，这个标识位的值是16进制的 0xa1b2c3d4。

a 32-bit magic number ,The magic number has the value hex a1b2c3d4.

2、主版本号：16位， 默认值为0x2。

a 16-bit major version number,The major version number should have the value 2.

3、副版本号：16位，默认值为0x04。

a 16-bit minor version number,The minor version number should have the value 4.

4、区域时间：32位，实际上该值并未使用，因此可以将该位设置为0。

a 32-bit time zone offset field that actually not used, so you can (and probably should) just make it 0;

5、精确时间戳：32位，实际上该值并未使用，因此可以将该值设置为0。

a 32-bit time stamp accuracy field tha not actually used,so you can (and probably should) just make it 0;

6、数据包最大长度：32位，该值设置所抓获的数据包的最大长度，如果所有数据包都要抓获，将该值设置为65535；例如：想获取数据包的前64字节，可将该值设置为64。

a 32-bit snapshot length" field;The snapshot length field should be the maximum number of bytes perpacket that will be captured. If the entire packet is captured, make it 65535; if you only capture, for example, the first 64 bytes of the packet, make it 64.

7、链路层类型：32位， 数据包的链路层包头决定了链路层的类型。

a 32-bit link layer type field.The link-layer type depends on the type of link-layer header that the

packets in the capture file have:

以下是数据值与链路层类型的对应表

0 BSD loopback devices, except for later OpenBSD

1 Ethernet, and Linux loopback devices 以太网类型，大多数的数据包为这种类型。

6 802.5 Token Ring

7 ARCnet

8 SLIP

9 PPP

10

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

#include

#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, dispatcher_handler, NULL);

pcap_close(fp);

return 0;

}

void dispatcher_handler(u_char *temp1,

const struct pcap_pkthdr *header,

const u_char *pkt_data)

{

u_int it = 0;

(VOID*)temp1;

//保存数据

char fn[20];

PointXYZ point;

FILE *fp;

long int ustime = header->ts.tv_usec;

printf("%ld:%ld (%ld)\n", header->ts.tv_sec, header->ts.tv_usec, header->len);

if (header->len==1248)

{

byte timestampl[4];

byte factoryl[2];

byte lo[1248];

memcpy(&lo, pkt_data, 1248);

memcpy(×tampl, pkt_data + 42 + 12 * 100, 4);

memcpy(&factoryl, pkt_data + 42 + 12 * 100 + 4, 2);

//float fValuet = *((float*)×tampl); //系统时间

int fValue1 = *((float*)&factoryl[0]);

long int fValue = bytes4ToInt(timestampl);

if (stamptimecount == 0)

{

stamptimecount = fValue;

}

if ((fValue - stamptimecount) >= 100000)

{

stamptimecount = fValue;

frameint++;

}

/保存数据

sprintf_s(fn, "%05d.txt", frameint);

//err = fopen_s( &stream, "crt_fopen_s.c", "r" )) !=0

if ((fp = fopen(fn, "a")) == NULL)

{

printf("Create File failure 1");

fclose(fp);

//exit(1);

}

//read data

byte datal[12][100];

int packet_size = 100;

int azimuth;

float distance;

int passway;

for (int i = 0; i < 12; i++)

{

memcpy(&datal[i], pkt_data + 42 + i * 100, packet_size);

BYTE b[2];

BYTE b1[1];

memcpy(&b, pkt_data + 42 + i * 100 + 2, 2);

azimuth = bytes2ToInt(b);

UsefulData.JIAODU_[i] = azimuth;

UsefulData.JIAODU2_[i] = azimuth*0.01;

UsefulData.Timesec = header->ts.tv_sec;

//printf("%f\n", UsefulData.JIAODU2_[i]);

UsefulData.TimeStamp = fValue;

for (int j = 0; j < 32; j++)

{

memcpy(&b, pkt_data + 42 + i * 100 + 4 + j * 3, 2);

memcpy(&b1, pkt_data + 42 + i * 100 + 4 + j * 3 + 2, 1);

distance = float(bytes2ToInt(b))*0.002f;

passway = bytes1ToInt(b1);

if (distance<0.05)

{

UsefulData.JULI_[i][j] = 0;

UsefulData.PointPos[i][j] = i * 32 + j;

//printf("%d ", UsefulData.PointPos[i][j]);

}

else

{

UsefulData.JULI_[i][j] = distance;

UsefulData.PointPos[i][j] = i * 32 + j;

}

UsefulData.PASSEGEWAY_[i][j] = passway;

UsefulData.TimeOffset[i][j] = Timeoffsetvec[i * 32 + j] + header->ts.tv_usec; //时间戳

UsefulData.SIN_[i][j] = lasersinvec[i * 32 + j];

UsefulData.COS_[i][j] = lasercosvec[i * 32 + j];

//printf("%f ", UsefulData.PASSEGEWAY_[i][j]);

}

}

//经度赋值

for (int i1 = 0; i1 < 12; i1++)

{

for (int k = 0; k < 32; k++)

{

if (k < 16)

{

UsefulData.Azimuth[i1][k] = UsefulData.JIAODU2_[i1];// +LASER_vert_correction[k];

}

else if (k >= 16)

{

if (i1 < 11)//前11帧

{

if (UsefulData.JIAODU2_[i1 + 1] < UsefulData.JIAODU2_[i1])

{

UsefulData.JIAODU2_[i1 + 1] += 360.0;

float azimuth2 = UsefulData.JIAODU2_[i1] + (UsefulData.JIAODU2_[i1 + 1] - UsefulData.JIAODU2_[i1]) / 2.0;

if (azimuth2 > 360)// 角度变化了

{

azimuth2 -= 360;

UsefulData.Azimuth[i1][k] = azimuth2;// +LASER_vert_correction[k - 16];

}

else

{

UsefulData.Azimuth[i1][k] = azimuth2;// +LASER_vert_correction[k - 16];

}

}

else

{

float azimuth4 = UsefulData.JIAODU2_[i1] + (UsefulData.JIAODU2_[i1 + 1] - UsefulData.JIAODU2_[i1]) / 2.0;

UsefulData.Azimuth[i1][k] = azimuth4;// +LASER_vert_correction[k - 16

}

}

else if (i1 == 11)//最后一帧

{

float azimuth3 = UsefulData.JIAODU2_[i1] + 0.2;

if (azimuth3 > 360)

{

azimuth3 -= 360;

}

else

{

}

UsefulData.Azimuth[i1][k] = azimuth3;//;+LASER_vert_correction[k - 16];

}

}

point.x = UsefulData.JULI_[i1][k] * UsefulData.COS_[i1][k] * sin(UsefulData.Azimuth[i1][k] / 180.0*3.1415926);

point.y = UsefulData.JULI_[i1][k] * UsefulData.COS_[i1][k] * cos(UsefulData.Azimuth[i1][k] / 180.0*3.1415926);

point.z = UsefulData.JULI_[i1][k] * UsefulData.SIN_[i1][k];

point.r = UsefulData.PASSEGEWAY_[i1][k];

point.tus = UsefulData.TimeOffset[i1][k];

point.tsec = UsefulData.Timesec;

if ((point.x == 0) && (point.y == 0) && (point.z == 0) || (UsefulData.JULI_[i1][k] <= 0.05))

{

}

else

{

//X Y Z Azimuth Distance Laser_ID

fprintf(fp, "%f %f %f %f %f %d ", point.x, point.y, point.z, UsefulData.Azimuth[i1][k], UsefulData.JULI_[i1][k], UsefulData.PointPos[i1][k] % 16);

fprintf(fp, "%f %f %ld %ld\n ", UsefulData.PASSEGEWAY_[i1][k], point.tus, header->ts.tv_sec,ustime);

}

}

}

fclose(fp);

}

printf("\n\n");

}

void UDPtoXYZfunALL(Usefulmessage data)

{

PointXYZ point[384];

FILE *fp;

if ((fp = fopen("all.txt", "a")) == NULL)

{

printf("Create File failure");

//getch();

exit(1);

}

for (int i = 0; i < 12; i++)

{

for (int j = 0; j < 32; j++)

{

point[i * 32 + j].x = data.JULI_[i][j] * data.COS_[i][j] * sin(data.Azimuth[i][j] / 180.0*3.1415926);

point[i * 32 + j].y = data.JULI_[i][j] * data.COS_[i][j] * cos(data.Azimuth[i][j] / 180.0*3.1415926);

point[i * 32 + j].z = data.JULI_[i][j] * data.SIN_[i][j];

point[i * 32 + j].r = data.PASSEGEWAY_[i][j];

point[i * 32 + j].tus = data.TimeOffset[i][j];

point[i * 32 + j].tsec = data.Timesec;

if ((point[i * 32 + j].x == 0) && (point[i * 32 + j].y == 0) && (point[i * 32 + j].z == 0) || (data.JULI_[i][j] <= 0.05))

{

}

else

{

//X Y Z Azimuth Distance Laser_ID

fprintf(fp, "%f %f %f %f %f %d ", point[i * 32 + j].x, point[i * 32 + j].y, point[i * 32 + j].z, data.Azimuth[i][j], data.JULI_[i][j], data.PointPos[i][j] % 16);

fprintf(fp, "%f %f %f %f \n ", data.PASSEGEWAY_[i][j], point[i * 32 + j].tus, data.TimeStamp, data.Timesec);

//fprintf(fp, "%f %f %f \n", point[i * 32 + j].x, point[i * 32 + j].y, point[i * 32 + j].z);

}

}

}

fclose(fp);

}

void UDPtoXYZfun(Usefulmessage data)

{

PointXYZ point[384];

FILE *fp;

if ((fp = fopen("my.txt", "a")) == NULL)

{

printf("Create File failure");

//getch();

exit(1);

}

for (int i = 0; i < 12; i++)

{

for (int j = 0; j < 32; j++)

{

point[i * 32 + j].x = data.JULI_[i][j]*data.COS_[i][j]*sin(data.Azimuth[i][j]/180.0*3.1415926);

point[i * 32 + j].y = data.JULI_[i][j]*data.COS_[i][j]*cos(data.Azimuth[i][j]/180.0*3.1415926);

point[i * 32 + j].z = data.JULI_[i][j] * data.SIN_[i][j];

point[i * 32 + j].r = data.PASSEGEWAY_[i][j];

point[i * 32 + j].tus = data.TimeOffset[i][j];

point[i * 32 + j].tsec = data.Timesec;

if ((point[i * 32 + j].x == 0) && (point[i * 32 + j].y == 0) && (point[i * 32 + j].z == 0)||(data.JULI_[i][j]<=0.05))

{

}

else

{

//fprintf(fp, "%f %f %f %f %f %d\n", point[i * 32 + j].x, point[i * 32 + j].y, point[i * 32 + j].z,data.Azimuth[i][j],data.JULI_[i][j],data.PointPos[i][j]%16);

fprintf(fp, "%f %f %f \n", point[i * 32 + j].x, point[i * 32 + j].y, point[i * 32 + j].z);

}

}

}

fclose(fp);

}