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/*
* hdl_grabber_example.cpp
*
* Created on: Nov 29, 2012
* Author: keven
*/
#include <string>
#include <iostream>
#include <iomanip>
#include <pcl/io/hdl_grabber.h>
#include <pcl/console/parse.h>
#include <pcl/common/time.h>
class SimpleHDLGrabber
{
public:
std::string calibrationFile, pcapFile;
SimpleHDLGrabber (std::string& calibFile, std::string& pcapFile)
: calibrationFile (calibFile)
, pcapFile (pcapFile)
{
}
void
sectorScan (
const pcl::PointCloud<pcl::PointXYZI>::ConstPtr&,
float,
float)
{
static unsigned count = 0;
static double last = pcl::getTime ();
if (++count == 30)
{
double now = pcl::getTime();
std::cout << "got sector scan. Avg Framerate " << double(count) / double(now - last) << " Hz" << std::endl;
count = 0;
last = now;
}
}
void
sweepScan (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& sweep)
{
static unsigned count = 0;
static double last = pcl::getTime();
if (sweep->header.seq == 0) {
std::uint64_t stamp;
stamp = sweep->header.stamp;
time_t systemTime = static_cast<time_t>(((stamp & 0xffffffff00000000l) >> 32) & 0x00000000ffffffff);
auto usec = static_cast<std::uint32_t>(stamp & 0x00000000ffffffff);
std::cout << std::hex << stamp << " " << ctime(&systemTime) << " usec: " << usec << std::endl;
}
if (++count == 30)
{
double now = pcl::getTime ();
std::cout << "got sweep. Avg Framerate " << double(count) / double(now - last) << " Hz" << std::endl;
count = 0;
last = now;
}
}
void
run ()
{
pcl::HDLGrabber interface (calibrationFile, pcapFile);
// make callback function from member function
std::function<void(const pcl::PointCloud<pcl::PointXYZI>::ConstPtr&, float, float)> f =
[this] (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr& p1, float p2, float p3) { sectorScan (p1, p2, p3); };
// connect callback function for desired signal. In this case its a sector with XYZ and intensity information
//boost::signals2::connection c = interface.registerCallback(f);
// Register a callback function that gets complete 360 degree sweeps.
std::function<void(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f2 =
[this] (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& sweep) { sweepScan (sweep); };
boost::signals2::connection c2 = interface.registerCallback(f2);
//interface.filterPackets(boost::asio::ip::address_v4::from_string("192.168.18.38"));
// start receiving point clouds
interface.start ();
std::cout << R"(<Esc>, 'q', 'Q': quit the program)" << std::endl;
char key;
do
{
key = static_cast<char> (getchar ());
} while (key != 27 && key != 'q' && key != 'Q');
// stop the grabber
interface.stop ();
}
};
int
main (int argc, char **argv)
{
std::string hdlCalibration, pcapFile;
pcl::console::parse_argument (argc, argv, "-calibrationFile", hdlCalibration);
pcl::console::parse_argument (argc, argv, "-pcapFile", pcapFile);
SimpleHDLGrabber grabber (hdlCalibration, pcapFile);
grabber.run ();
return (0);
}
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