test.cpp

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/**-----------------------------------------------
 * @Copyright (C) 2017 All rights reserved.
 * @filename: test.cpp
 * @author: aliben.develop@gmail.com
 * @created_date: 2017-12-04 15:59:55
 * @last_modified_date: NO_LAST_MODIFIED_DATE
 * @description: TODO
 *-----------------------------------------------*/

/* +------------------------------------------------------------------------+
    |                     Mobile Robot Programming Toolkit (MRPT)            |
    |                          http://www.mrpt.org/                          |
    |                                                                        |
    | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
    | See: http://www.mrpt.org/Authors - All rights reserved.                |
    | Released under BSD License. See details in http://www.mrpt.org/License |
    +------------------------------------------------------------------------+
 */

/*
    This example was contributed by Adrien Barral - Robopec (France)
*/

#include <mrpt/gui.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // [mrpt-maps]
#include <mrpt/hwdrivers/CSICKTim561Eth_2050101.h>
#include <iostream>

using namespace mrpt;
using namespace mrpt::utils;
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[])
{
    /** A process for testing Lidar with MRPT
     * 1. New a Lidar class with <IP> <Port>
     * 2. Turn on the Lidar just created
     * 3. Get Lidar data into outObs
     */
    if (argc < 3)
    {
        cout << "Usage : " << argv[0] << " <IP> <port> " << endl;
        return 0;
    }

    CSICKTim561Eth 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 =
        mrpt::make_aligned_shared<opengl::CPlanarLaserScan>();
    obj->clear();
    obj->setColor(0, 0, 1);
    obj->setName("scan_TIM561");
    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_TIM561"));
        obj->clear();
        obj->setScan(outObs);
        win3D.unlockAccess3DScene();
        win3D.forceRepaint();
        std::this_thread::sleep_for(20ms);
    }
    win3D.waitForKey();
    return 0;
}