R2000-Visualizer

This project uses the R2000 communication interface to capture scans and display it as point cloud using a PCLViewer.

Dependencies

This project depends on:

• Boost >= 1.64
• PCL >= 1.8
• A compiler supporting >= C++17

Building and Usage

# With git < 1.65
git clone git@github.com:Nandite/R2000-Visualizer.git
cd R2000-Visualizer
git submodule update --init --recursive
# With git > 1.65
git clone --recursive git@github.com:Nandite/R2000-Visualizer.git
# With git > 2.13
git clone --recurse-submodules git@github.com:Nandite/R2000-Visualizer.git

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j16

# TCP scan acquisition
# ./TcpAcquisition -a <device-ipv4-address>
./TcpAcquisition -a 192.168.2.30
# or
# UDP scan acquisition
#./UdpAcquisition -a <device-ipv4-address> -t <destination-ipv4:port>
# Given that the address of the machine running the program is 192.168.2.15
./UdpAcquisition -a 192.168.2.30 -t 192.168.2.15:62000 

The programs will launch a PCLViewer displaying the output of the sensor:

Note: In some case, once the visualizer has started, you might need to press the touch 'r' to recenter the view on the cloud.

Feedback

Don't hesitate if you have any suggestions for improving this project, or if you find any error. I will be glad to hear from you. There are traits that have been implemented yet. You can submit implementations suggestions. Contributions are welcomed :)

License

Distributed under the MIT Software License (X11 license). See accompanying file LICENSE.