VeloView Developer Guide

Software developer documentation for the VeloView application

and libraries
Copyright:
Version:

Copyright (c) 2013, Velodyne Lidar. All rights reserved.

1.0.8

Table of Contents
1 Build instructions

1.1 Superbuild overview

1.2 Getting the source code

1.3 External dependencies

1.3.1 pcap

1.3.2 Boost

1.3.3 Qt

1.3.4 Python

1.3.5 PythonQt

1.3.6 VTK and ParaView

1.4 Configure and build instructions

1.4.1 Windows build instructions

2
3

1.5 Mac build instructions

1.6 Packaging

1.6.1 Packaging for Windows

1.6.2 Packaging for Mac

2 Developer Guide

2.1 Source code organization

2.2 ParaView plugin

2.3 VTK readers

2.4 VeloView application

1 Build instructions
1.1 Superbuild overview
VeloView uses a cmake superbuild to download and compile third party projects that are dependencies of
VeloView. The superbuild will give you the option to use system installations of third party projects instead
of compiling them as a superbuild step. Some dependencies, on certain platforms, must be compiled by
the superbuild, and there is no option to use a system version.

1.2 Getting the source code

The VeloView software is hosted in a git repository on github.com Use the following command line to
checkout the source code:
git clone git://public.kitware.com/VeloView.git

1.3 External dependencies

The VeloView application and libraries have several external library dependencies. As explained in the
Superbuild overview, the dependencies will be downloaded and compiled automatically during the build
step. See Configure and build instructions.

1.3.1 pcap
The required pcap version is 1.4. On Mac/Linux, only libpcap is required. On Windows, we use the
Winpcap project which includes libpcap but also includes Windows specific drivers. Since the winpcap
project only provides Visual Studio project files, which may be out dated, the superbuild does not attempt
to compile winpcap. Instead, a git repository containing headers and precompiled .lib and .dll files is used.
The repository url is https://github.com/patmarion/winpcap.

1.3.2 Boost
The required boost version is 1.50. Boost is used for threading and synchronization, and for network
communication. The boost thread and asio libraries are used.

1.3.3 Qt
The required Qt version is 4.8. Qt is a desktop widget library that is used to provide user interface
elements like windows and menus across the supported platforms Windows, Mac, and Linux.

1.3.4 Python
The required Python version is 2.7. VeloView uses libpython to embed a Python interpreter in the
VeloView application. The core VeloView features are implemented in C++ libraries, and the libraries are
wrapped for Python using VTK's Python wrapping tools.

1.3.5 PythonQt
PythonQt is used from a specific git commit sha1, but a specific released version. PythonQt is used to
build Qt applications using Python. PythonQt has support for wrapping types derived from Qt objects and
VTK objects.

1.3.6 VTK and ParaView

The required VTK version is 6.0. The required ParaView version is 4.0. The ParaView repository includes
VTK, so the superbuild only needs to checkout and build ParaView in order to satisfy both dependencies.
A specific git commit sha1 is used instead of a specific released version. The commit sha1 is very similar
to the version 4.0 release but it has a few commits from the ParaView master branch cherry-picked onto it.
The commits added are those that resolve some issues with the Python console and add the
PythonQtPlugin for ParaView. The PythonQtPlugin is a small plugin that initializes the PythonQt library
and makes it available in the ParaView Python console.

1.4 Configure and build instructions

The superbuild requires cmake version 2.8.8. The build will be performed in a separate, out-of-source
build directory. Start a terminal in the parent directory that contains your veloview checkout. Create a new
build directory and then use cmake to configure the superbuild:

mkdir build cd build cmake -DENABLE_veloview:BOOL=ON ../veloview/SuperBuild

This will configure the veloview superbuild with the VeloView application enabled, and all other options left
at default. For most builds, the default options are satisfactory. Some users may wish to configure custom
cmake options in order to select system versions of certain third party dependencies such as Qt, Boost, or
Python. You should not use a system version of pcap, instead, let the superbuild checkout the correct
version of pcap or winpcap.
You can use cmake, ccmake (a curses interface to cmake) or cmake-gui.
You can set the CMAKE_BUILD_TYPE to Release, Debug, or RelWithDebInfo to set the build type. Most
users will want to select Release.
You can set the CMAKE_INSTALL_PREFIX to determine where the VeloView binaries are installed when
you run make install.
After cmake has generated the build files, just run make to run the superbuild:
make
On Mac and Linux computers, you can run parallel make with make -j. Parallel make is not supported on
Windows because the Windows build uses NMake.

1.4.1 Windows build instructions

Because the superbuild compiles Python, and Python only supplies Visual Studio project files for Visual
Studio 9, you must use Visual Studio 9 for compiling the VeloView superbuild on Windows. If you decide
to use a system install of Python instead, then you can avoid the Visual Studio version requirement. But,
be warned that other versions of Visual Studio have not been tested with VeloView.
You can build VeloView for 32bit or 64bit. The target architecture is decided by the command prompt
environment that is used when running CMake. Make sure to open the command prompt by opening the
Visual Studio Tools command prompt. When selecting the generator in cmake-gui on Windows, you
should select NMake Makefiles using the default native compilers. It is possible to make a 32bit build on a
64bit Windows computer by opening the Visual Studio Tools command prompt that is initialized for the
32bit compiler environment.
After generating NMake Makefiles, just run make to run the superbuild. NMake does not support parallel
builds, so the build can take quite some time to complete on Windows, especially when compiling Qt
instead of using a system install of Qt.

1.5 Mac build instructions

For Mac builds, it is best to use system installs of Qt and Python. You can use a package manager like
Homebrew or macports to install these libraries system wide prior to compiling VeloView. The system
version of pcap on Mac is too old to be used with VeloView, so the superbuild will always download and
compile the correct version of pcap. You can choose to build Boost with the superbuild or use a system
version of Boost, as long as the static Boost archive libraries are available (the libraries with the .a
extension). If you are unsure, it is better to let the superbuild build Boost for you.

1.6 Packaging
After building VeloView, the application will be runnable on your system. In order to distribute VeloView to
other users you must generate a VeloView package. The packaging process is different for different
platforms.

1.6.1 Packaging for Windows

Packaging on Windows requires NSIS. Visit the NSIS website to download and install the latest version.
NSIS is used to generate a standard Windows installer executable which will install VeloView to the
Program Files directory. Make sure you install NSIS before configuring VeloView with CMake. After the
superbuild has completed (you ran make and it completed without errors) you are ready for packaging.

Before packaging, you might want to test the VeloView install tree. You can run the make install command
(make sure you have set the CMAKE_INSTALL_PREFIX to a writable location) and then cd to the install
directory and open bin/VeloView.exe. If there are any issues, you should debug them at this point before
continuing with the packaging. Make sure you open the VeloView Python console to make sure there are
no issues with Python initialization.
To generate a Windows installer, run the package command:
make package
The output will be a .exe installer in the current directory.

1.6.2 Packaging for Mac

Packaging on Mac will generate a .dmg image file. Opening the .dmg file will mount a volume that
contains the VeloView.app bundle. There is already a VeloView.app bundle in your build tree, but it only
contains the veloview binary and not any dependent libraries. A real app bundle contains library files for all
the veloview dependencies. After copying the dependent library files into the app bundle, a script runs the
Mac tool called install_name_tool to rewrite the library dependency locations using relative paths. The
script is in the veloview repo named fixup_bundle.py and it is executed automatically during installation
and packaging.
Before packaging, you might want to test the VeloView install tree. You can run the make install command
(make sure you have set the CMAKE_INSTALL_PREFIX to a writable location) and then cd to the install
directory and open VeloView.app. If there are any issues, you should debug them at this point before
continuing with the packaging. Make sure you open the VeloView Python console to make sure there are
no issues with Python initialization.
To generate a Mac installer, run the package command:
make package
The output will be a .dmg file in the current directory.

2 Developer Guide
2.1 Source code organization
The VeloView source code is a mixture of VTK classes and Qt classes. The source code files with the vtk
prefix are VTK classes that do not have any Qt dependencies. The classes with the vv or pq prefixes are
Qt classes that depend on VTK, Qt, and ParaView's Qt libraries. The core VTK classes in VeloView are
compiled into a plugin library named libVelodyneHDLPlugin that can be loaded into ParaView. The
VeloView app is implemented using a mixture of the C++ Qt classes and Python code. The Python code is
mostly organized in the file applogic.py in the veloview Python module.

2.2 ParaView plugin

The libVelodyneHDLPlugin library depends on VTK, ParaView, Qt, PythonQt, Boost, and libpcap. The
plugin can be loaded into the main ParaView application using ParaView version 4.0. The build specifies
the static version of the boost libraries, so the plugin's only dependencies beyond ParaView are libpcap
and PythonQt library.
On Windows, the plugin can be loaded as long as the libpcap and PythonQt library dll files are in the same
directory. On Mac, you should use the install_name_tool to fix the library locations of these dependencies
to be relative to @loader_path, then place the libpcap and PythonQt library files relative to the
libVelodyneHDLPlugin library.
In ParaView, the Velodyne pcap reader and Velodyne network source plugin are available in the Sources
menu.

2.3 VTK readers

VeloView, and the VelodyneHDL Plugin for ParaView included two readers/sources. The Velodyne pcap
reader is implemented in the C++ class vtkVelodyneHDLReader.{cxx,h}. When reading a pcap file, the
reader first scans the file and looks for frame splits when the azimuth resets from 360 degrees to 0
degrees. The pcap file position is recorded for each split so that the reader can jump to frames using file
seeking.
The network source reader receives UDP data packets from a Velodyne sensor using the Boost asio
library. The network source is implemented by vtkVelodyneHDLSource.{cxx,h}. The source manages
multiple threads in a producer/consumer model, and uses an instance of the vtkVelodyneHDLReader to
convert data packets into VTK point cloud data.

2.4 VeloView application

The VeloView application is implemented using Qt in C++ and Python. The PythonQt library is used to
access the C++ layer from Python. The majority of the application logic is implemented in Python in the
applogic.py file. The Python code also uses Qt's uitools library to load user interface .ui files at runtime. Qt
designer can be used to edit the .ui files. The VeloView application can be extended using Python and .ui
files.