X-lanni
149 lines
4.6 KiB
C++
149 lines
4.6 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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// Should be first on windows to avoid "WinSock.h has already been included" error
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#include <pcl/io/hdl_grabber.h>
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#include <pcl/io/vlp_grabber.h>
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#include "rtabmap/core/util2d.h"
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#include "rtabmap/core/util3d.h"
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#include "rtabmap/core/util3d_transforms.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UMath.h"
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#include "rtabmap/utilite/UFile.h"
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#include "rtabmap/utilite/UDirectory.h"
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#include "rtabmap/utilite/UConversion.h"
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#include <pcl/visualization/cloud_viewer.h>
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#include <stdio.h>
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#include <signal.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/common/time.h> //fps calculations
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#include <pcl/visualization/point_cloud_color_handlers.h>
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#include <pcl/visualization/cloud_viewer.h>
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#include <pcl/visualization/image_viewer.h>
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#include <pcl/console/parse.h>
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#include <rtabmap/core/lidar/LidarVLP16.h>
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using namespace pcl;
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using namespace pcl::console;
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using namespace pcl::visualization;
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-lidar_viewer IP PORT driver\n"
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" driver Driver number to use: 0=VLP16 (default IP and port are 192.168.1.201 2368)\n");
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exit(1);
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}
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// catch ctrl-c
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bool running = true;
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void sighandler(int sig)
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{
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printf("\nSignal %d caught...\n", sig);
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running = false;
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}
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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//ULogger::setPrintTime(false);
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//ULogger::setPrintWhere(false);
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int driver = 0;
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std::string ip;
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int port = 2368;
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if(argc < 4)
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{
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showUsage();
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}
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else
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{
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ip = argv[1];
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port = uStr2Int(argv[2]);
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driver = atoi(argv[3]);
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if(driver < 0 || driver > 0)
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{
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UERROR("driver should be 0.");
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showUsage();
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}
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}
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printf("Using driver %d (ip=%s port=%d)\n", driver, ip.c_str(), port);
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rtabmap::LidarVLP16 * lidar = 0;
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if(driver == 0)
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{
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#if BOOST_VERSION >= 108700 // Version 1.87.0
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lidar = new rtabmap::LidarVLP16(boost::asio::ip::make_address(ip), port);
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#else
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lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string(ip), port);
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#endif
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}
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else
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{
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UFATAL("");
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}
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if(!lidar->init())
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{
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printf("Lidar init failed! Please select another driver (see \"--help\").\n");
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delete lidar;
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exit(1);
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}
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pcl::visualization::CloudViewer * viewer = new pcl::visualization::CloudViewer("cloud");
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// to catch the ctrl-c
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signal(SIGABRT, &sighandler);
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signal(SIGTERM, &sighandler);
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signal(SIGINT, &sighandler);
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rtabmap::SensorData data = lidar->takeScan();
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while(!data.laserScanRaw().empty() && (viewer==0 || !viewer->wasStopped()) && running)
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{
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pcl::PointCloud<pcl::PointXYZI>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudI(data.laserScanRaw(), data.laserScanRaw().localTransform());
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viewer->showCloud(cloud, "cloud");
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printf("Scan size: %ld points\n", cloud->size());
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int c = cv::waitKey(10); // wait 10 ms or for key stroke
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if(c == 27)
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break; // if ESC, break and quit
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data = lidar->takeScan();
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}
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printf("Closing...\n");
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if(viewer)
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{
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delete viewer;
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}
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delete lidar;
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return 0;
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}
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