Pat Marion, an R&D Engineer at Kitware, has concluded his work on the joint Open Perception – Ocular Robotics code sprint. The goal of the code sprint was to develop a pcl::Grabber driver interface for the RE0x laser sensors and to develop visualization code capable of real-time display of point cloud data streams acquired by the grabber interface.
The pcl::RobotEyeGrabber is a new C++ class that was added to the pcl io module. It implements the pcl::Grabber interface and provides access to point cloud data streams sent over the network by RE0x laser sensors. A point cloud visualization application called RobotEye Viewer was developed using the RobotEyeGrabber and PCLVisualizer. The application uses the RobotEye C++ API to send control messages to the RobotEye laser sensor and displays real-time point cloud streams acquired using the grabber interface.
The following video demonstrates the RobotEye Viewer application in action using a RE05 laser sensor:
RobotEye lidar scan animation