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/*
* 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/io/openni_grabber.h>
#include <pcl/common/time.h>
#include <pcl/console/parse.h>
class SimpleOpenNIProcessor
{
public:
bool save;
openni_wrapper::OpenNIDevice::DepthMode mode;
SimpleOpenNIProcessor (openni_wrapper::OpenNIDevice::DepthMode depth_mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth) : mode (depth_mode) {}
void
imageDepthImageCallback (const openni_wrapper::DepthImage::Ptr& d_img)
{
static unsigned count = 0;
static double last = pcl::getTime ();
if (++count == 30)
{
double now = pcl::getTime ();
std::cout << "got depth-image. Average framerate: " << double(count)/double(now - last) << " Hz" << std::endl;
std::cout << "Depth baseline: " << d_img->getBaseline () << " and focal length: " << d_img->getFocalLength () << std::endl;
count = 0;
last = now;
}
}
void
run ()
{
save = false;
// create a new grabber for OpenNI devices
pcl::OpenNIGrabber interface;
// Set the depth output format
interface.getDevice ()->setDepthOutputFormat (mode);
// make callback function from member function
std::function<void (const openni_wrapper::DepthImage::Ptr&)> f2 = [this] (const openni_wrapper::DepthImage::Ptr& depth)
{
imageDepthImageCallback (depth);
};
// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c2 = interface.registerCallback (f2);
// start receiving point clouds
interface.start ();
std::cout << R"(<Esc>, 'q', 'Q': quit the program)" << std::endl;
std::cout << "\' \': pause" << std::endl;
char key;
do
{
key = static_cast<char> (getchar ());
if (key == ' ')
{
interface.toggle ();
}
} while ((key != 27) && (key != 'q') && (key != 'Q'));
// stop the grabber
interface.stop ();
}
};
int
main (int argc, char **argv)
{
int mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth;
pcl::console::parse_argument (argc, argv, "-mode", mode);
SimpleOpenNIProcessor v (static_cast<openni_wrapper::OpenNIDevice::DepthMode> (mode));
v.run ();
return (0);
}
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