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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Victor Lamoine (victor.lamoine@gmail.com)
*/
#include <iostream>
#include <pcl/io/davidsdk_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std::chrono_literals;
/** @brief Convenience typedef */
using CloudViewer = pcl::visualization::CloudViewer;
/** @brief Convenience typedef for XYZ point clouds */
using PointCloudXYZ = pcl::PointCloud<pcl::PointXYZ>;
/** @brief CloudViewer pointer */
CloudViewer::Ptr viewer_ptr;
/** @brief PCL DavidSDK object pointer */
pcl::DavidSDKGrabber::Ptr davidsdk_ptr;
/** @brief Process and/or display DavidSDK grabber clouds
* @param[in] cloud DavidSDK cloud */
void
grabberCallback (const PointCloudXYZ::Ptr& cloud)
{
if (!viewer_ptr->wasStopped ())
viewer_ptr->showCloud (cloud);
}
/** @brief Main function
* @param[in] argc
* @param[in] argv
* @return Exit status */
int
main (int argc,
char *argv[])
{
if (argc != 2)
{
PCL_ERROR ("Usage:\n%s 192.168.100.65\n", argv[0]);
return (-1);
}
viewer_ptr.reset (new CloudViewer ("davidSDK 3D cloud viewer"));
davidsdk_ptr.reset (new pcl::DavidSDKGrabber);
davidsdk_ptr->connect (argv[1]);
if (!davidsdk_ptr->isConnected ())
return (-1);
PCL_WARN ("davidSDK connected\n");
#ifndef _WIN32// || _WIN64
PCL_WARN ("Linux / Mac OSX detected, setting local_path_ to /var/tmp/davidsdk/ and remote_path_ to \\\\m6700\\davidsdk\\\n");
davidsdk_ptr->setLocalAndRemotePaths ("/var/tmp/davidsdk/", "\\\\m6700\\davidsdk\\");
#endif
//davidsdk_ptr->setFileFormatToPLY();
std::cout << "Using " << davidsdk_ptr->getFileFormat () << " file format" << std::endl;
std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
davidsdk_ptr->registerCallback (f);
davidsdk_ptr->start ();
while (!viewer_ptr->wasStopped ())
{
std::this_thread::sleep_for(20s);
std::cout << "FPS: " << davidsdk_ptr->getFramesPerSecond () << std::endl;
}
davidsdk_ptr->stop ();
return (0);
}
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