99 lines
3.2 KiB
Markdown
99 lines
3.2 KiB
Markdown
|
# TransformPointCloud Sample
|
||
|
|
|
||
|
|
With this sample, you can obtain and save the point clouds in the custom reference frame.
|
||
|
|
|
||
|
|
If you have any questions or have anything to share, feel free to post on the [Mech-Mind Online Community](https://community.mech-mind.com/). The community also contains a [specific category for development with Mech-Eye SDK](https://community.mech-mind.com/c/mech-eye-sdk-development/19).
|
||
|
|
|
||
|
|
## Build the Sample
|
||
|
|
|
||
|
|
Prerequisites and instructions for building the sample on Windows and Ubuntu are provided.
|
||
|
|
|
||
|
|
### Windows
|
||
|
|
|
||
|
|
#### Prerequisites
|
||
|
|
|
||
|
|
The following software are required to build this sample. Please download and install these software.
|
||
|
|
|
||
|
|
* [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk)
|
||
|
|
* [Visual Studio (version 2017 or above)](https://visualstudio.microsoft.com/vs/community/)
|
||
|
|
* [CMake (version 3.2 or above)](https://cmake.org/download/)
|
||
|
|
|
||
|
|
#### Instructions
|
||
|
|
|
||
|
|
1. Make sure that the sample is stored in a location with read and write permissions.
|
||
|
|
2. Run Cmake and set the source and build paths:
|
||
|
|
|
||
|
|
| Field | Path |
|
||
|
|
| :---- | :---- |
|
||
|
|
| Where is the source code | xxx/TransformPointCloud |
|
||
|
|
| Where to build the binaries | xxx/TransformPointCloud/build |
|
||
|
|
|
||
|
|
3. Click the **Configure** button. In the pop-up window, set the generator and platform according to the actual situation, and then click the **Finish** button.
|
||
|
|
4. When the log displays **Configuring done**, click the **Generate** button. When the log displays **Generating done**, click the **Open Project** button.
|
||
|
|
5. In Visual Studio toolbar, change the solution configuration from **Debug** to **Release**.
|
||
|
|
6. In the **Solution Explorer** panel, right-click the sample, and select **Set as Startup Project**.
|
||
|
|
7. Click the **Local Windows Debugger** button in the toolbar to run the sample.
|
||
|
|
8. Enter the index of the laser profiler to which you want to connect, and press the Enter key. The obtained files are saved to the `build` folder.
|
||
|
|
|
||
|
|
### Ubuntu
|
||
|
|
|
||
|
|
Ubuntu 18 or above is required.
|
||
|
|
|
||
|
|
#### Prerequisites
|
||
|
|
|
||
|
|
* Update the software source list.
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo apt-get update
|
||
|
|
```
|
||
|
|
|
||
|
|
* Install required tools.
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo apt-get install -y build-essential pkg-config cmake
|
||
|
|
```
|
||
|
|
|
||
|
|
* Install [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk).
|
||
|
|
|
||
|
|
>Note: If you have installed Mech-Eye SDK before, please uninstall it first with the following command:
|
||
|
|
>
|
||
|
|
>```bash
|
||
|
|
>sudo dpkg -P MechEyeApi
|
||
|
|
>```
|
||
|
|
|
||
|
|
* If the system architecture is AMD64, execute the following command:
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo dpkg -i 'Mech-Eye_API_x.x.x_amd64.deb'
|
||
|
|
```
|
||
|
|
|
||
|
|
* If the system architecture is ARM64, execute the following command:
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo dpkg -i 'Mech-Eye_API_x.x.x_arm64.deb'
|
||
|
|
```
|
||
|
|
|
||
|
|
#### Instructions
|
||
|
|
|
||
|
|
1. Navigate to the directory of the sample.
|
||
|
|
|
||
|
|
```bash
|
||
|
|
cd xxx/TransformPointCloud/
|
||
|
|
```
|
||
|
|
|
||
|
|
2. Configure and build the sample.
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo mkdir build && cd build
|
||
|
|
sudo cmake ..
|
||
|
|
sudo make
|
||
|
|
```
|
||
|
|
|
||
|
|
3. Run the sample.
|
||
|
|
|
||
|
|
```bash
|
||
|
|
sudo ./TransformPointCloud
|
||
|
|
```
|
||
|
|
|
||
|
|
4. Enter the index of the laser profiler to which you want to connect, and press the Enter key. The obtained files are saved to `/TransformPointCloud/build`.
|