에스엔비 라이다 센서 관련 문의입니다.

[sinkangchul]

현재 test_yrl_library.cpp 부분에서 openGL을 사용하여 (x,y,z)값에 대한 점을 찍어보는 작업을 진행중입니다.

//== 1. CREATE DRIVER INSTANCE ===========================================
YujinRobotYrlDriver* instance =  new YujinRobotYrlDriver();
//========================================================================

이 부분을 전역변수로 설정하여

void display()
{
glPointSize(0.5f); // 정점의 size 조절

//glClear(GL_COLOR_BUFFER_BIT);

glBegin(GL_POINTS);     // mode 선택

int ret = instance->GetCartesianOutputsWithIntensity(SystemTime, IntensityArray, XCoordArray, YCoordArray, ZCoordArray);
if (ret == -1)
{
    std::this_thread::sleep_for(std::chrono::milliseconds(40));
}

std::cout << IntensityArray.size() << std::endl;

for (int i = 0; i < XCoordArrays.size(); i++)
{
    if (XCoordArrays.at(i) != 0)
    {
        //std::cout << XCoordArray.at(i) / 10 << ", " << YCoordArrays.at(i) / 10 << ", " << ZCoordArrays.at(i) / 10 << std::endl;
        x_d = XCoordArrays.at(i) / 10;
        y_d = YCoordArrays.at(i) / 10;
        z_d = ZCoordArrays.at(i) / 10;
        glColor3f(0.5, z_d, 0.1);
        glVertex2f(x_d, y_d);

    }
}
glEnd();
glutSwapBuffers();

}

display 함수의 GetCartesianOutputsWithIntensity(...)를 실행할 방법이 있을까요?

• 현재 저희가 원하는 방향은 x,y,z값의 대한 좌표를 가지고 2D에서 점을 찍고 일정 COUNT에 따른 이미지 저장을 하려고 합니다.

[CharlieYangPM]

안녕하세요. 유진로봇 개발본부 PM Charlie Yang 입니다. 위에 문의하신 함수는 Git에 제공한 test_yrl_library.cpp에 있습니다.

[sinkangchul]

int main( int argc, char ** argv)
{
#ifdef _WIN32
std::thread thread(threadFucntion);
#endif

std::cout << "========================================" << std::endl; 
std::cout << "           Test YRL driver          " << std::endl; 
std::cout << "========================================\n" << std::endl;

if (argc != 2)
{
    LOGPRINT(main, YRL_LOG_USER, ("WRONG ARGUMENT! USAGE: [./test_yrl_library] [IP_ADDRESS]\n"));
    return -1;
}

#ifdef _WIN32
WSADATA wsaData;
if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0)
{
printf("WSAStartup() error!");
}
#endif

//== 1. CREATE DRIVER INSTANCE ===========================================
//YujinRobotYrlDriver* instance =  new YujinRobotYrlDriver();
//========================================================================

//== 2. SET IP ===========================================================
// THIS MUST BE SET BEFOR CALLING Start().
// THIS WILL BE USED TO CONNECT LIDAR
::instance->SetIPAddrParam(ip);
//========================================================================

//== 3. START DRIVER =====================================================
// THIS FUNCTION SHOULD BE ONLY ONCE CALLED.
int ret = ::instance->Start();

이 부분을 주석처리하고

/*********************************************************************

• Copyright (c) 2022, YujinRobot Corp.
• Non-monifiable freely redistributable software(FRS)
• • Redistribution. Redistribution and use in binary form, without modification,
• are permitted provided that the following conditions are met:
• • Redistributions must reproduce the above copyright notice and the following
• disclaimer in the documentation and/or other materials provided with the distribution.
• • Neither the name of YujinRobot Corporation nor the names of its suppliers may be used
• to endorse or promote products derived from this software without specific prior written permission.
• THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OFOR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
  *********************************************************************/
  #include <GL/glut.h>
  #include <stdio.h>
  #include <math.h>
  #include
  #include "C:/Users/win\source/repos/YRL3_V2_DLL_test/YRL3_V2_DLL_test/include/yujinrobot_yrldriver/yujinrobot_yrldriver.hpp"
  #include

YujinRobotYrlDriver* instance = new YujinRobotYrlDriver();

가장 상단에 선언했을 경우

[YRLTCPSocket][YRL_LOG_ERROR][YRLTCPSocket::SetNonBlockingMode:110] [tcp_client] socket error: 10038
[YRLTCPSocket][YRL_LOG_ERROR][YRLTCPSocket::SetNonBlockingMode:111] [tcp_client] non-blocking mode setting failed. Close socket.
[YRLTCPSocket][YRL_LOG_ERROR][YRLTCPSocket::Connect:200] [tcp_client] serverAddress: 192.168.1.250 serverPort: 1234, connection failed during connection. errno:0. Close socket.
[YRLTCPSocket][YRL_LOG_ERROR][YRLTCPSocket::SetBlockingMode:79] [tcp_client] blocking mode setting failed. Close socket.
[YujinRobotYrlDriver][YRL_LOG_ERROR][YujinRobotYrlDriver::Start:173] FAILED TO START TCP COMM.
-2
[main][YRL_LOG_USER] CANNOT START COMMUNICATION WITH LIDAR.
[main][YRL_LOG_USER] CONNECT TO [IP:192.168.1.250 PORT:1234] FAILED. CHECK YOUR NETWORK CONNECTION.

C:\Users\win\source\repos\YRL3_V2_DLL_test\x64\Release\test_driver.exe(프로세스 10392개)이(가) 종료되었습니다(코드: -1073740791개).
이 창을 닫으려면 아무 키나 누르세요...

이런 에러가 뜹니다..

다른 함수에서
instance->GetCartesianOutputsWithIntensity(SystemTime, IntensityArray, XCoordArray, YCoordArray, ZCoordArray);
이 명령어를 사용하는 방법이 있나요?