Re: [Playerstage-users] Pointcloud3d Proxy

[Daniel S. <dsc...@ht...>]

Hi, 
thx for your answer, this works fine now but when I call robot.read(); for the 
second time I got an memory access error. Do you have any idea whats the 
Problem?

//***********************Client to Test my Pointcloud Driver*****************

int main(int argc, char **argv)
{

px = new double (64*16);
py = new double (64*16);
pz = new double (64*16);

printf("Hello Client\n");
  PlayerClient robot("localhost");
 // SonarProxy      sp(&robot,0);
printf("Hello Client\n");

  Pointcloud3dProxy tof(&robot,0);
   //player_pose3d_t p3d;	

 for(;;)
  {
printf("Waiting for new Data!\n");
    // read from the proxies
puts("Robot.READ");
robot.Read();
puts("Robot.READ success" );
if (!tof.IsValid()) {
puts("DataNot Valid");
//cout<<"NOT VALID"<<endl;
return 0;
}
if(tof.IsFresh()){
std::cout<<"New Cloud data"<<std::endl;
puts("Data Valid");
printf("GetCount: %f",tof.GetCount());

tof.NotFresh();
for(uint i=0; i< tof.GetCount(); i++) {
puts("Spring hier rein Wi....");

/*std::cout<<"x "<<tof.GetPoint(i).point.px
<<" y "<<tof.GetPoint(i).point.py
<<" z "<<tof.GetPoint(i).point.pz<<std::endl;*

px[i] = tof.GetPoint(i).point.px;
py[i] = tof.GetPoint(i).point.py;
pz[i] = tof.GetPoint(i).point.pz;

printf("PX, PY, PZ: %f, %f, %f",px[i], py[i], pz[i]);


		}
	}
}
}
//****************END OF CODE***************************

Thanks for your support. 

Cheers
Daniel