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Updated LidarViewer with ouster

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matlabbe
2024-08-18 19:22:49 -07:00
parent b44dd537a7
commit 0de0fe3ec6
4 changed files with 47 additions and 23 deletions
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2
CMakeLists.txt
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@@ -205,7 +205,7 @@ option(WITH_REALSENSE2 "Include RealSense support" ON)
option(WITH_MYNTEYE "Include mynteye-s support" ON)
option(WITH_DEPTHAI "Include depthai-core support" OFF)
option(WITH_XVSDK "Include XVisio SDK support" OFF)
option(WITH_OUSTER "INclude Ouster SDK support" ON)
option(WITH_OUSTER "Include Ouster SDK support" ON)
option(WITH_OCTOMAP "Include OctoMap support" ON)
option(WITH_GRIDMAP "Include GridMap support" ON)
option(WITH_CPUTSDF "Include CPUTSDF support" OFF)

9
examples/LidarMapping/main.cpp
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@@ -48,8 +48,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-lidar_mapping [OPTIONS] 0 IP PORT\n"
"rtabmap-lidar_mapping [OPTIONS] 1 IP\n"
"rtabmap-lidar_mapping [OPTIONS] DRIVER ...\n"
"rtabmap-lidar_mapping [OPTIONS] 0 IP PORT (with VLP16 LiDAR)\n"
"rtabmap-lidar_mapping [OPTIONS] 1 IP (with Ouster LiDAR)\n"
"rtabmap-lidar_mapping [OPTIONS] DRIVER PCAP_FILEPATH [JSON_FILEPATH]\n"
"\n"
"DRIVER: 0=VLP16, 1=Ouster\n"
@@ -68,7 +69,7 @@ using namespace rtabmap;
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
ULogger::setLevel(ULogger::kInfo);
std::string pcapFile;
std::string jsonFile;
@@ -306,5 +307,7 @@ int main(int argc, char * argv[])
printf("Saving rtabmap_trajectory.txt... failed!\n");
}
rtabmap->close(false);
return 0;
}

4
tools/CMakeLists.txt
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@@ -22,9 +22,7 @@ ENDIF(OPENCV_NONFREE_FOUND)
IF(TARGET rtabmap_gui)
ADD_SUBDIRECTORY( CameraRGBD )
IF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
ADD_SUBDIRECTORY( LidarViewer )
ENDIF()
ADD_SUBDIRECTORY( LidarViewer )
ADD_SUBDIRECTORY( DatabaseViewer )
ADD_SUBDIRECTORY( EpipolarGeometry )
ADD_SUBDIRECTORY( OdometryViewer )

55
tools/LidarViewer/main.cpp
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@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UConversion.h"
#include <pcl/visualization/cloud_viewer.h>
#include <stdio.h>
#include <signal.h>
@@ -49,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/visualization/image_viewer.h>
#include <pcl/console/parse.h>
#include <rtabmap/core/lidar/LidarVLP16.h>
#include <rtabmap/core/lidar/LidarOuster.h>
using namespace pcl;
using namespace pcl::console;
@@ -57,8 +57,14 @@ using namespace pcl::visualization;
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-lidar_viewer IP PORT driver\n"
" driver Driver number to use: 0=VLP16 (default IP and port are 192.168.1.201 2368)\n");
"rtabmap-lidar_viewer DRIVER IP [PORT]\n"
"\n"
"DRIVER: 0=VLP16, 1=Ouster\n"
"PORT: should be set if DRIVER=0\n"
"\n"
"Examples:\n"
" rtabmap-lidar_viewer 0 192.168.1.201 2368\n"
" rtabmap-lidar_viewer 1 192.168.1.2\n\n");
exit(1);
}
@@ -80,28 +86,45 @@ int main(int argc, char * argv[])
int driver = 0;
std::string ip;
int port = 2368;
if(argc < 4)
if(argc < 3)
{
printf("Not enough arguments.\n");
showUsage();
}
else
{
ip = argv[1];
port = uStr2Int(argv[2]);
driver = atoi(argv[3]);
if(driver < 0 || driver > 0)
driver = uStr2Int(argv[1]);
if(driver < 0 || driver > 1)
{
UERROR("driver should be 0.");
printf("driver should be 0 or 1.\n");
showUsage();
}
}
printf("Using driver %d (ip=%s port=%d)\n", driver, ip.c_str(), port);
rtabmap::LidarVLP16 * lidar = 0;
ip = argv[2];
if(driver==0)
{
if(argc>=3)
{
port = uStr2Int(argv[3]);
}
else
{
printf("IP and PORT should be set with VLP16 driver\n");
showUsage();
}
}
}
printf("Using driver %d (ip=%s%s)\n", driver, ip.c_str(), driver==0?uFormat(" port=%d", port).c_str():"");
rtabmap::Lidar * lidar = 0;
if(driver == 0)
{
lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string(ip), port);
}
else if(driver == 1)
{
lidar = new rtabmap::LidarOuster(ip);
}
else
{
UFATAL("");
@@ -109,7 +132,7 @@ int main(int argc, char * argv[])
if(!lidar->init())
{
printf("Lidar init failed! Please select another driver (see \"--help\").\n");
printf("Lidar init failed!\n");
delete lidar;
exit(1);
}
@@ -121,18 +144,18 @@ int main(int argc, char * argv[])
signal(SIGTERM, &sighandler);
signal(SIGINT, &sighandler);
rtabmap::SensorData data = lidar->takeScan();
rtabmap::SensorData data = lidar->takeData();
while(!data.laserScanRaw().empty() && (viewer==0 || !viewer->wasStopped()) && running)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudI(data.laserScanRaw(), data.laserScanRaw().localTransform());
viewer->showCloud(cloud, "cloud");
printf("Scan size: %ld points\n", cloud->size());
viewer->showCloud(cloud, "cloud");
int c = cv::waitKey(10); // wait 10 ms or for key stroke
if(c == 27)
break; // if ESC, break and quit
data = lidar->takeScan();
data = lidar->takeData();
}
printf("Closing...\n");
if(viewer)