1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
|
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, 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.
*
*/
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/oni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <vector>
using namespace pcl;
using namespace pcl::console;
using Cloud = PointCloud<PointXYZRGBA>;
using CloudConstPtr = Cloud::ConstPtr;
int i = 0;
char buf[4096];
//////////////////////////////////////////////////////////////////////////////
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.oni\n", argv[0]);
}
//////////////////////////////////////////////////////////////////////////////
void
cloud_cb (const CloudConstPtr& cloud)
{
PCDWriter w;
sprintf (buf, "frame_%06d.pcd", i);
w.writeBinaryCompressed (buf, *cloud);
PCL_INFO ("Wrote a cloud with %lu (%ux%u) points in %s.\n",
cloud->size (), cloud->width, cloud->height, buf);
++i;
}
/* ---[ */
int
main (int argc, char **argv)
{
print_info ("Convert an ONI file to PCD format. For more information, use: %s -h\n", argv[0]);
if (argc < 2)
{
printHelp (argc, argv);
return (-1);
}
pcl::ONIGrabber* grabber = new pcl::ONIGrabber (argv[1], false, false);
std::function<void (const CloudConstPtr&) > f = [] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = grabber->registerCallback (f);
while (grabber->hasDataLeft ())
{
grabber->start ();
}
PCL_INFO ("Successfully processed %d frames.\n", i);
delete grabber;
return (0);
}
|
