diff options
Diffstat (limited to 'python-velodyne-decoder.spec')
| -rw-r--r-- | python-velodyne-decoder.spec | 477 |
1 files changed, 477 insertions, 0 deletions
diff --git a/python-velodyne-decoder.spec b/python-velodyne-decoder.spec new file mode 100644 index 0000000..2fd24d5 --- /dev/null +++ b/python-velodyne-decoder.spec @@ -0,0 +1,477 @@ +%global _empty_manifest_terminate_build 0 +Name: python-velodyne-decoder +Version: 2.3.0 +Release: 1 +Summary: Decoder for raw Velodyne packet data +License: BSD License +URL: https://github.com/valgur/velodyne_decoder +Source0: https://mirrors.nju.edu.cn/pypi/web/packages/ab/ed/f0d40b99665165aa0eb96c32824c3220e19af3de71c8ce450a78f9300b03/velodyne-decoder-2.3.0.tar.gz + +Requires: python3-numpy +Requires: python3-importlib-resources +Requires: python3-dpkt +Requires: python3-pytest +Requires: python3-requests +Requires: python3-rosbag +Requires: python3-pathlib + +%description +# velodyne_decoder [](https://pypi.org/project/velodyne-decoder/) [](https://github.com/valgur/velodyne_decoder/actions/workflows/build.yml) [](https://pypistats.org/packages/velodyne-decoder) + +Python package and C++ library for Velodyne packet decoding. Point cloud extraction from PCAP and ROS bag files is +supported out of the box. + +The decoded point clouds are provided either as a structured NumPy array: + +```python +array([(8.327308, -2.161341, 0.3599853, 85., 17, -0.04960084), + (8.323784, -2.9578836, 0.27016047, 102., 15, -0.04959854), + (8.184404, -2.845847, -0.8741639, 39., 2, -0.04959623), ..., + (8.369528, -2.8161895, 2.307987, 17., 31, 0.00064051), + (8.377898, -3.2570598, 1.7714221, 104., 30, 0.00064282), + (8.358282, -2.8030438, 0.31229734, 104., 16, 0.00064282)], + dtype={'names': ['x', 'y', 'z', 'intensity', 'ring', 'time'], + 'formats': ['<f4', '<f4', '<f4', '<f4', '<u2', '<f4'], 'offsets': [0, 4, 8, 16, 20, 24], 'itemsize': 32}) +``` + +or as a contiguous array of floats (default): + +```python +array([[8.327308, -2.161341, 0.3599853, 85., 17., -0.04960084], + [8.323784, -2.9578836, 0.27016047, 102., 15., -0.04959854], + [8.184404, -2.845847, -0.8741639, 39., 2., -0.04959623], + ..., + [8.369528, -2.8161895, 2.307987, 17., 31., 0.00064051], + [8.377898, -3.2570598, 1.7714221, 104., 30., 0.00064282], + [8.358282, -2.8030438, 0.31229734, 104., 16., 0.00064282]], dtype=float32) +``` + +The layout of the structs matches the layout of `PointXYZIRT` point cloud points output by the ROS driver. + +## Installation + +Wheels are available from PyPI for Linux, MacOS and Windows. Python versions 2.7 and 3.6+ are supported. + +```bash +pip install velodyne-decoder +``` + +Alternatively, you can build and install the development version from source. + +```bash +sudo apt-get install cmake build-essential python3-dev +pip install git+https://github.com/valgur/velodyne_decoder.git +``` + +## Usage + +### Decoding Velodyne data from a ROS bag + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-32C') +bagfile = 'xyz.bag' +lidar_topics = ['/velodyne_packets'] +cloud_arrays = [] +for stamp, points, topic in vd.read_bag(bagfile, config, lidar_topics): + cloud_arrays.append(points) +``` + +The `rosbag` library must be installed. If needed, you can install it without setting up the entire ROS stack with + +```bash +pip install rosbag --extra-index-url https://rospypi.github.io/simple/ +``` + +To extract all `VelodyneScan` messages in the bag you can leave the list of topics unspecified. + +The header timestamp from the scan messages will be returned by default. To use the message arrival time instead +set `use_header_time=False`. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Decoding Velodyne data from a PCAP file + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-16', rpm=600) +pcap_file = 'vlp16.pcap' +cloud_arrays = [] +for stamp, points in vd.read_pcap(pcap_file, config): + cloud_arrays.append(points) +``` + +`config.model` and `config.rpm` must be set. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Configuration + +The main parameter `config.model` must always be set. For a list of supported model IDs see + +```python +>> > velodyne_decoder.Config.SUPPORTED_MODELS +['HDL-32E', 'HDL-64E', 'HDL-64E_S2', 'HDL-64E_S3', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Note that timing info is available for only a subset of the models: + +```python +>> > velodyne_decoder.Config.TIMINGS_AVAILABLE +['HDL-32E', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Other available options are: + +* `calibration_file` – the beam calibration details from Velodyne are used by default based on the model ID. If you + however wish to use a more specific calibration, you can specify one in + the [YAML format](https://wiki.ros.org/velodyne_pointcloud#gen_calibration.py) used by the ROS driver. +* `min_range` and `max_range` – only return points between these range values. +* `min_angle` and `max_angle` – only return points between these azimuth angles. + +Options only applicable to PCAP decoding: + +* `rpm` – the device rotation speed in revolutions per minute. +* `gps_time` – use the timestamp from the packet's data if true, packet's arrival time otherwise (default). +* `timestamp_first_packet` – whether the timestamps are set based on the first or last packet in the scan + +## Authors + +* Martin Valgur ([@valgur](https://github.com/valgur)) + +The core functionality has been adapted from the ROS [velodyne driver](https://github.com/ros-drivers/velodyne). + +## License + +[BSD 3-Clause License](LICENSE) + + + + +%package -n python3-velodyne-decoder +Summary: Decoder for raw Velodyne packet data +Provides: python-velodyne-decoder +BuildRequires: python3-devel +BuildRequires: python3-setuptools +BuildRequires: python3-pip +BuildRequires: python3-cffi +BuildRequires: gcc +BuildRequires: gdb +%description -n python3-velodyne-decoder +# velodyne_decoder [](https://pypi.org/project/velodyne-decoder/) [](https://github.com/valgur/velodyne_decoder/actions/workflows/build.yml) [](https://pypistats.org/packages/velodyne-decoder) + +Python package and C++ library for Velodyne packet decoding. Point cloud extraction from PCAP and ROS bag files is +supported out of the box. + +The decoded point clouds are provided either as a structured NumPy array: + +```python +array([(8.327308, -2.161341, 0.3599853, 85., 17, -0.04960084), + (8.323784, -2.9578836, 0.27016047, 102., 15, -0.04959854), + (8.184404, -2.845847, -0.8741639, 39., 2, -0.04959623), ..., + (8.369528, -2.8161895, 2.307987, 17., 31, 0.00064051), + (8.377898, -3.2570598, 1.7714221, 104., 30, 0.00064282), + (8.358282, -2.8030438, 0.31229734, 104., 16, 0.00064282)], + dtype={'names': ['x', 'y', 'z', 'intensity', 'ring', 'time'], + 'formats': ['<f4', '<f4', '<f4', '<f4', '<u2', '<f4'], 'offsets': [0, 4, 8, 16, 20, 24], 'itemsize': 32}) +``` + +or as a contiguous array of floats (default): + +```python +array([[8.327308, -2.161341, 0.3599853, 85., 17., -0.04960084], + [8.323784, -2.9578836, 0.27016047, 102., 15., -0.04959854], + [8.184404, -2.845847, -0.8741639, 39., 2., -0.04959623], + ..., + [8.369528, -2.8161895, 2.307987, 17., 31., 0.00064051], + [8.377898, -3.2570598, 1.7714221, 104., 30., 0.00064282], + [8.358282, -2.8030438, 0.31229734, 104., 16., 0.00064282]], dtype=float32) +``` + +The layout of the structs matches the layout of `PointXYZIRT` point cloud points output by the ROS driver. + +## Installation + +Wheels are available from PyPI for Linux, MacOS and Windows. Python versions 2.7 and 3.6+ are supported. + +```bash +pip install velodyne-decoder +``` + +Alternatively, you can build and install the development version from source. + +```bash +sudo apt-get install cmake build-essential python3-dev +pip install git+https://github.com/valgur/velodyne_decoder.git +``` + +## Usage + +### Decoding Velodyne data from a ROS bag + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-32C') +bagfile = 'xyz.bag' +lidar_topics = ['/velodyne_packets'] +cloud_arrays = [] +for stamp, points, topic in vd.read_bag(bagfile, config, lidar_topics): + cloud_arrays.append(points) +``` + +The `rosbag` library must be installed. If needed, you can install it without setting up the entire ROS stack with + +```bash +pip install rosbag --extra-index-url https://rospypi.github.io/simple/ +``` + +To extract all `VelodyneScan` messages in the bag you can leave the list of topics unspecified. + +The header timestamp from the scan messages will be returned by default. To use the message arrival time instead +set `use_header_time=False`. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Decoding Velodyne data from a PCAP file + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-16', rpm=600) +pcap_file = 'vlp16.pcap' +cloud_arrays = [] +for stamp, points in vd.read_pcap(pcap_file, config): + cloud_arrays.append(points) +``` + +`config.model` and `config.rpm` must be set. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Configuration + +The main parameter `config.model` must always be set. For a list of supported model IDs see + +```python +>> > velodyne_decoder.Config.SUPPORTED_MODELS +['HDL-32E', 'HDL-64E', 'HDL-64E_S2', 'HDL-64E_S3', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Note that timing info is available for only a subset of the models: + +```python +>> > velodyne_decoder.Config.TIMINGS_AVAILABLE +['HDL-32E', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Other available options are: + +* `calibration_file` – the beam calibration details from Velodyne are used by default based on the model ID. If you + however wish to use a more specific calibration, you can specify one in + the [YAML format](https://wiki.ros.org/velodyne_pointcloud#gen_calibration.py) used by the ROS driver. +* `min_range` and `max_range` – only return points between these range values. +* `min_angle` and `max_angle` – only return points between these azimuth angles. + +Options only applicable to PCAP decoding: + +* `rpm` – the device rotation speed in revolutions per minute. +* `gps_time` – use the timestamp from the packet's data if true, packet's arrival time otherwise (default). +* `timestamp_first_packet` – whether the timestamps are set based on the first or last packet in the scan + +## Authors + +* Martin Valgur ([@valgur](https://github.com/valgur)) + +The core functionality has been adapted from the ROS [velodyne driver](https://github.com/ros-drivers/velodyne). + +## License + +[BSD 3-Clause License](LICENSE) + + + + +%package help +Summary: Development documents and examples for velodyne-decoder +Provides: python3-velodyne-decoder-doc +%description help +# velodyne_decoder [](https://pypi.org/project/velodyne-decoder/) [](https://github.com/valgur/velodyne_decoder/actions/workflows/build.yml) [](https://pypistats.org/packages/velodyne-decoder) + +Python package and C++ library for Velodyne packet decoding. Point cloud extraction from PCAP and ROS bag files is +supported out of the box. + +The decoded point clouds are provided either as a structured NumPy array: + +```python +array([(8.327308, -2.161341, 0.3599853, 85., 17, -0.04960084), + (8.323784, -2.9578836, 0.27016047, 102., 15, -0.04959854), + (8.184404, -2.845847, -0.8741639, 39., 2, -0.04959623), ..., + (8.369528, -2.8161895, 2.307987, 17., 31, 0.00064051), + (8.377898, -3.2570598, 1.7714221, 104., 30, 0.00064282), + (8.358282, -2.8030438, 0.31229734, 104., 16, 0.00064282)], + dtype={'names': ['x', 'y', 'z', 'intensity', 'ring', 'time'], + 'formats': ['<f4', '<f4', '<f4', '<f4', '<u2', '<f4'], 'offsets': [0, 4, 8, 16, 20, 24], 'itemsize': 32}) +``` + +or as a contiguous array of floats (default): + +```python +array([[8.327308, -2.161341, 0.3599853, 85., 17., -0.04960084], + [8.323784, -2.9578836, 0.27016047, 102., 15., -0.04959854], + [8.184404, -2.845847, -0.8741639, 39., 2., -0.04959623], + ..., + [8.369528, -2.8161895, 2.307987, 17., 31., 0.00064051], + [8.377898, -3.2570598, 1.7714221, 104., 30., 0.00064282], + [8.358282, -2.8030438, 0.31229734, 104., 16., 0.00064282]], dtype=float32) +``` + +The layout of the structs matches the layout of `PointXYZIRT` point cloud points output by the ROS driver. + +## Installation + +Wheels are available from PyPI for Linux, MacOS and Windows. Python versions 2.7 and 3.6+ are supported. + +```bash +pip install velodyne-decoder +``` + +Alternatively, you can build and install the development version from source. + +```bash +sudo apt-get install cmake build-essential python3-dev +pip install git+https://github.com/valgur/velodyne_decoder.git +``` + +## Usage + +### Decoding Velodyne data from a ROS bag + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-32C') +bagfile = 'xyz.bag' +lidar_topics = ['/velodyne_packets'] +cloud_arrays = [] +for stamp, points, topic in vd.read_bag(bagfile, config, lidar_topics): + cloud_arrays.append(points) +``` + +The `rosbag` library must be installed. If needed, you can install it without setting up the entire ROS stack with + +```bash +pip install rosbag --extra-index-url https://rospypi.github.io/simple/ +``` + +To extract all `VelodyneScan` messages in the bag you can leave the list of topics unspecified. + +The header timestamp from the scan messages will be returned by default. To use the message arrival time instead +set `use_header_time=False`. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Decoding Velodyne data from a PCAP file + +```python +import velodyne_decoder as vd + +config = vd.Config(model='VLP-16', rpm=600) +pcap_file = 'vlp16.pcap' +cloud_arrays = [] +for stamp, points in vd.read_pcap(pcap_file, config): + cloud_arrays.append(points) +``` + +`config.model` and `config.rpm` must be set. + +To return arrays of structs instead of the default contiguous arrays, set `as_pcl_structs=True`. + +### Configuration + +The main parameter `config.model` must always be set. For a list of supported model IDs see + +```python +>> > velodyne_decoder.Config.SUPPORTED_MODELS +['HDL-32E', 'HDL-64E', 'HDL-64E_S2', 'HDL-64E_S3', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Note that timing info is available for only a subset of the models: + +```python +>> > velodyne_decoder.Config.TIMINGS_AVAILABLE +['HDL-32E', 'VLP-16', 'VLP-32C', 'Alpha Prime'] +``` + +Other available options are: + +* `calibration_file` – the beam calibration details from Velodyne are used by default based on the model ID. If you + however wish to use a more specific calibration, you can specify one in + the [YAML format](https://wiki.ros.org/velodyne_pointcloud#gen_calibration.py) used by the ROS driver. +* `min_range` and `max_range` – only return points between these range values. +* `min_angle` and `max_angle` – only return points between these azimuth angles. + +Options only applicable to PCAP decoding: + +* `rpm` – the device rotation speed in revolutions per minute. +* `gps_time` – use the timestamp from the packet's data if true, packet's arrival time otherwise (default). +* `timestamp_first_packet` – whether the timestamps are set based on the first or last packet in the scan + +## Authors + +* Martin Valgur ([@valgur](https://github.com/valgur)) + +The core functionality has been adapted from the ROS [velodyne driver](https://github.com/ros-drivers/velodyne). + +## License + +[BSD 3-Clause License](LICENSE) + + + + +%prep +%autosetup -n velodyne-decoder-2.3.0 + +%build +%py3_build + +%install +%py3_install +install -d -m755 %{buildroot}/%{_pkgdocdir} +if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi +if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi +if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi +if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi +pushd %{buildroot} +if [ -d usr/lib ]; then + find usr/lib -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/lib64 ]; then + find usr/lib64 -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/bin ]; then + find usr/bin -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/sbin ]; then + find usr/sbin -type f -printf "/%h/%f\n" >> filelist.lst +fi +touch doclist.lst +if [ -d usr/share/man ]; then + find usr/share/man -type f -printf "/%h/%f.gz\n" >> doclist.lst +fi +popd +mv %{buildroot}/filelist.lst . +mv %{buildroot}/doclist.lst . + +%files -n python3-velodyne-decoder -f filelist.lst +%dir %{python3_sitearch}/* + +%files help -f doclist.lst +%{_docdir}/* + +%changelog +* Wed May 10 2023 Python_Bot <Python_Bot@openeuler.org> - 2.3.0-1 +- Package Spec generated |