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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, 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 Willow Garage, Inc. 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: Suat Gedikli (gedikli@willowgarage.com)
*/
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <iomanip> // for setprecision
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
cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud) const
{
static unsigned count = 0;
static double last = pcl::getTime ();
if (++count == 30)
{
double now = pcl::getTime ();
std::cout << "distance of center pixel :" << cloud->points [(cloud->width >> 1) * (cloud->height + 1)].z << " mm. Average framerate: " << double(count)/double(now - last) << " Hz" << std::endl;
count = 0;
last = now;
}
if (save)
{
std::stringstream ss;
ss << std::setprecision (12) << pcl::getTime () * 100 << ".pcd";
pcl::PCDWriter w;
w.writeBinaryCompressed (ss.str (), *cloud);
std::cout << "wrote point clouds to file " << ss.str () << std::endl;
}
}
void
imageDepthImageCallback (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr& d_img, float constant)
{
static unsigned count = 0;
static double last = pcl::getTime ();
if (++count == 30)
{
double now = pcl::getTime ();
std::cout << "got synchronized image x depth-image with constant factor: " << constant << ". 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 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);
// make callback function from member function
std::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float constant)> f2 =
[this] (const openni_wrapper::Image::Ptr& img, const openni_wrapper::DepthImage::Ptr& depth, float constant)
{
imageDepthImageCallback (img, depth, constant);
};
// 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;
std::cout << "\'s\': save" << std::endl;
char key;
do
{
key = static_cast<char> (getchar ());
switch (key)
{
case ' ':
if (interface.isRunning ())
interface.stop ();
else
interface.start ();
break;
case 's':
save = !save;
}
} 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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