This document introduces the demo project of "go_laser_scan", including how to get the original data of laser scanning. |
Content
Sample Code:
Higher version of Visual Studio will cause errors. Sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework. |
(Either one of following)
Right click on " get_laser_scan ", then " Properties",configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.
It's not necessary to copy files to the project directory, user will only need to configure the path of SDK. |
Get the original data of laser scanning
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; rpos::features::system_resource::LaserScan laser_scan = sdp.getLaserScan(); std::vector<rpos::core::LaserPoint> laser_points =laser_scan.getLaserPoints(); for (std::vector<rpos::core::LaserPoint>::iterator it = laser_points.begin(); it!= laser_points.end(); ++it) std::cout << "Angle: " << it->angle() << "; Distance: " << it->distance() << "; is Valid: " << it->valid() << std::endl; |