VLP 16 Changes

[jbrowndev]

Just checking that along with using the VLP-16 corrections file if you would also need to change any of the rest of the code.

Looking through PacketDecoder.cpp the ProcessHDLPacket checks from blocks 0 to 31:
int offset = (firingData.blockIdentifier == BLOCK_0_TO_31) ? 0 : 32;

Would I be correct in saying that should be 0 to 15 for a VLP 16? Is that the only change needed for VLP 16 compatibility or is there more?

Thanks for the excellent code in any case!

[nicrip]

I don't have access to a VLP-16 but testing with the sample datasets from Velodyne (https://midas3.kitware.com/midas/folder/12979) seems to indicate that you only need to make sure that you use the VLP-16 corrections file for it to work correctly - no code changes needed.

[nicrip]

From testing with sample datasets, no VLP-16-specific changes are required - If a change is required the fix is easy, but for now I will close this issue until I get data that shows problems.

[jbrowndev]

Been working on this some more and I've been outputting the various data to investigate how it all looks.
This shows some of the data output: http://imgur.com/a/zKbh3

As you can see the Laser ID is not correct when compared to the table view in VeloView which has them from 0-15. While this code creates them from 0-31 and includes more than 16 in some of the packets.

Looking through the code I think that perhaps something in the offset that is derived from the corrections is not correct? If you output the data using a VLP-16 sample file you should see the same thing.

[nicrip]

Unfortunately, examination of the sample VLP-16 datasets indicates that the data block ID for the VLP-16 is identical to that of the HDL-32/64 (0xEEFF) instead of 0xFFEE as shown in the manual - if you have access to an actual VLP-16, can you confirm the block ID and upload a sample pcap?

I'd like to automatically distinguish between the HDL and VLP using the block ID, otherwise I have to add some function to switch between the two which is not elegant.

A quick fix for now if you are definitely using a VLP-16 is to add the line:

if (laserId >= 16) laserId -= 16;

in PacketDecoder.cpp after line 65 where laserId is set.