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#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>
#ifdef WIN32
# define sleep(x) Sleep((x)*1000)
#endif
class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer () :
viewer (" Point Cloud Compression Example")
{
}
void
cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
{
if (!viewer.wasStopped ())
{
// stringstream to store compressed point cloud
std::stringstream compressedData;
// output pointcloud
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
// compress point cloud
PointCloudEncoder->encodePointCloud (cloud, compressedData);
// decompress point cloud
PointCloudDecoder->decodePointCloud (compressedData, cloudOut);
// show decompressed point cloud
viewer.showCloud (cloudOut);
}
}
void
run ()
{
bool showStatistics = true;
// for a full list of profiles see: /io/include/pcl/compression/compression_profiles.h
pcl::io::compression_Profiles_e compressionProfile = pcl::io::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;
// instantiate point cloud compression for encoding and decoding
PointCloudEncoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> (compressionProfile, showStatistics);
PointCloudDecoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> ();
// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::OpenNIGrabber ();
// make callback function from member function
std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
[this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };
// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);
// start receiving point clouds
interface->start ();
while (!viewer.wasStopped ())
{
sleep (1);
}
interface->stop ();
// delete point cloud compression instances
delete (PointCloudEncoder);
delete (PointCloudDecoder);
}
pcl::visualization::CloudViewer viewer;
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudEncoder;
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudDecoder;
};
int
main (int argc, char **argv)
{
SimpleOpenNIViewer v;
v.run ();
return (0);
}
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