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Replace literal include of wrong CMakeLists file with correct script #1971

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Sep 3, 2017
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Replace literal include of wrong CMakeLists file with correct script #1971

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37 changes: 25 additions & 12 deletions doc/tutorials/content/hdl_grabber.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ data for each of the lasers in the device. The HDL-64e consists of

The HDL-64e and HDL-32e, by default, produce UDP network packets
on the 192.168.3 subnet. Starting with the HDL-32e (Firmware Version 2),
the user can customize this network subnet.
the user can customize this network subnet.

The HDL can be connected either directly into your computer, or into a
network switch (to include a network switch with a built-in Wireless Access Point).
Expand Down Expand Up @@ -85,7 +85,7 @@ So let's look at the code. The following represents a simplified version of *vis

.. code-block:: cpp
:linenos:

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/hdl_grabber.h>
Expand All @@ -96,7 +96,7 @@ So let's look at the code. The following represents a simplified version of *vis
using namespace std;
using namespace pcl::console;
using namespace pcl::visualization;

class SimpleHDLViewer
{
public:
Expand All @@ -116,7 +116,7 @@ So let's look at the code. The following represents a simplified version of *vis
boost::mutex::scoped_lock lock (cloud_mutex_);
cloud_ = cloud;
}

void run ()
{
cloud_viewer_->addCoordinateSystem (3.0);
Expand Down Expand Up @@ -171,7 +171,7 @@ So let's look at the code. The following represents a simplified version of *vis
CloudConstPtr cloud_;
pcl::visualization::PointCloudColorHandler<pcl::PointXYZI> &handler_;
};

int main (int argc, char ** argv)
{
std::string hdlCalibration, pcapFile;
Expand Down Expand Up @@ -204,10 +204,23 @@ Compiling and running the program

Add the following lines to your CMakeLists.txt file:

.. literalinclude:: sources/openni_grabber/CMakeLists.txt
:language: cmake
.. code-block:: cmake
:linenos:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(pcl_hdl_viewer_simple)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_hdl_viewer_simple hdl_viewer_simple.cpp)
target_link_libraries(pcl_hdl_viewer_simple ${PCL_LIBRARIES})


_`Disabling Reverse Path Filter`
--------------------------------

Expand Down Expand Up @@ -267,20 +280,20 @@ returns the following details (some items removed for brevity)::

em1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.128.108 netmask 255.255.255.0 broadcast 192.168.128.255

eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.3.1 netmask 255.255.255.0 broadcast 192.168.3.255

Next, let's look at our routing table (again, some items removed for brevity)::

$ route -n

Kernel IP routing table
Destination Gateway Genmask Flags Metric Ref Use Iface
0.0.0.0 192.168.128.1 0.0.0.0 UG 0 0 0 em1
192.168.3.0 0.0.0.0 255.255.255.0 U 0 0 0 eth0
192.168.128.0 0.0.0.0 255.255.255.0 U 0 0 0 em1

To add a route to the HDL, assume that the HDL Source IP is 192.168.12.84. You would use the
following command::

Expand All @@ -289,14 +302,14 @@ following command::
To verify that the route has been added, type the following::

$ route -n

Kernel IP routing table
Destination Gateway Genmask Flags Metric Ref Use Iface
0.0.0.0 192.168.128.1 0.0.0.0 UG 0 0 0 em1
192.168.3.0 0.0.0.0 255.255.255.0 U 0 0 0 eth0
192.168.12.0 0.0.0.0 255.255.255.0 U 0 0 0 eth0
192.168.128.0 0.0.0.0 255.255.255.0 U 0 0 0 em1


Now, there is a route back to the source IP address of the HDL on the same interface
that the packet came from!
Expand Down