captureIntensitySample.cpp

#include "UrgCtrl.h"
#include "delay.h"
#include <cstdlib>

using namespace qrk;
using namespace std;


int main(int argc, char *argv[])
{
  UrgCtrl urg;
  if (! urg.connect("/dev/ttyACM0")) {
    printf("UrgCtrl::connect: %s\n", urg.what());
    exit(1);
  }
  int scan_msec = urg.scanMsec();
  urg.setCaptureMode(IntensityCapture);

  enum {
    CaptureTimes = 10,
  };

  vector<long> data;
  vector<long> intensity_data;

  for (int i = 0; i < CaptureTimes; ++i) {
    long timestamp = 0;

    // Get data with intensity information
    int data_n = urg.captureWithIntensity(data, intensity_data, &timestamp);

    if (data_n > 0) {
      int front_index = urg.rad2index(0.0);

      // Display
      // The distance data that are less than urg_minDistance() are shown as invalid value.
      printf("%d: %ld [mm] (%ld), %ld [msec]\n",
             i, data[front_index], intensity_data[front_index], timestamp);
    }
    delay(scan_msec);
  }

  return 0;
}