main.cpp

// Explore self-driving car sensors by creating a 3D highway environment using PCL

#include "ukf/highway.h"

int main()
{
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->setBackgroundColor(0, 0, 0);

    // set camera position and angle
    viewer->initCameraParameters();
    float x_pos = 0;
    viewer->setCameraPosition(x_pos - 26, 0, 15.0, x_pos + 25, 0, 0, 0, 0, 1);

    Highway highway(viewer);

    //initHighway(viewer);

    int frame_per_sec = 30;
    int sec_interval = 10;
    int frame_count = 0;
    int time_us = 0;

    double ego_velocity = 25;

    while(frame_count < (frame_per_sec * sec_interval))
    {
        viewer->removeAllPointClouds();
        viewer->removeAllShapes();

        //stepHighway(egoVelocity,time_us, frame_per_sec, viewer);
        highway.StepHighway(ego_velocity, time_us, frame_per_sec, viewer);
        viewer->spinOnce(1000 / frame_per_sec);
        frame_count++;
        time_us = 1000000 * frame_count / frame_per_sec;
    }
}