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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
/*
This example was contributed by Adrien Barral - Robopec (France)
*/
#include <mrpt/gui.h>
#include <mrpt/hwdrivers/CLMS100eth.h>
#include <mrpt/opengl/CPlanarLaserScan.h> // [mrpt-maps]
#include <chrono>
#include <iostream>
#include <thread>
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::gui;
using namespace std;
int main(int argc, char* argv[])
{
if (argc < 3)
{
cout << "Usage : " << argv[0] << " <IP> <port> " << endl;
return 0;
}
CLMS100Eth laser(string(argv[1]), atoi(argv[2]));
laser.turnOn();
bool isOutObs, hardwareError;
CObservation2DRangeScan outObs;
laser.doProcessSimple(isOutObs, outObs, hardwareError);
CDisplayWindow3D win3D("Scan", 200, 200);
COpenGLScene::Ptr ptr_scene = win3D.get3DSceneAndLock();
opengl::CPlanarLaserScan::Ptr obj = opengl::CPlanarLaserScan::Create();
obj->clear();
obj->setColor(0, 0, 1);
obj->setName("scan_LMS100");
obj->setScan(outObs);
ptr_scene->insert(obj);
win3D.unlockAccess3DScene();
win3D.forceRepaint();
while (win3D.isOpen())
{
laser.doProcessSimple(isOutObs, outObs, hardwareError);
ptr_scene = win3D.get3DSceneAndLock();
opengl::CPlanarLaserScan::Ptr obj =
std::dynamic_pointer_cast<opengl::CPlanarLaserScan>(
ptr_scene->getByName("scan_LMS100"));
obj->clear();
obj->setScan(outObs);
win3D.unlockAccess3DScene();
win3D.forceRepaint();
std::this_thread::sleep_for(20ms);
}
win3D.waitForKey();
return 0;
}
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