def scanning(rawPoints):
range_finder = Lidar(
'/dev/ttyUSB0') # initializes serial connection with the lidar
nbr_tours = 0
nbr_pairs = 0
nbr_points = 0
distancesList = []
start_time = time.time()
iterator = range_finder.scan(
'express', max_buf_meas=False,
speed=450) # returns a yield containing each measure
try:
for measure in iterator:
#print("medindo...")
if time.time(
) - start_time > 1: # Given the time for the Lidar to "heat up"
dX = measure[0][3] * np.cos(-measure[0][2] * ANGLE_TO_RAD +
PI / 2)
dY = measure[0][3] * np.sin(-measure[0][2] * ANGLE_TO_RAD +
PI / 2)
distancesList.append([dX, dY])
nbr_pairs += 1
nbr_points += 1
if nbr_pairs == MIN_NEIGHBOORS:
rawPoints.put(distancesList[:])
del distancesList[:]
nbr_pairs = 0
if measure[0][0]:
print("Nombre de points: {}".format(nbr_points))
nbr_tours += 1
if len(distancesList) > 2:
rawPoints.put(distancesList[:])
rawPoints.put(0)
del distancesList[:]
nbr_pairs = 0
nbr_points = 0
except KeyboardInterrupt:
#print("Saindo...")
range_finder.stop_motor()
range_finder.reset()
rawPoints.put(None)
def scanning(my_q):
range_finder = Lidar(
'/dev/ttyUSB1') # initializes serial connection with the lidar
nbr_tours = 0
start_time = time.time()
iterator = range_finder.scan(
'express', max_buf_meas=False,
speed=350) # returns a yield containing each measure
try:
for measure in iterator:
#print("medindo...")
if time.time(
) - start_time > 1: # Given the time for the Lidar to "heat up"
my_q.put(measure)
if measure[0][0]:
nbr_tours += 1
my_q.put(0)
except KeyboardInterrupt:
#print("Saindo...")
range_finder.stop_motor()
range_finder.reset()
my_q.put(None)