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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 <chrono>
#include <iostream>
#include <thread>
#include <pcl/io/ensenso_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 Ensenso object pointer */
pcl::EnsensoGrabber::Ptr ensenso_ptr;
/** @brief Process and/or display Ensenso grabber clouds
* @param[in] cloud Ensenso cloud */
void
grabberCallback (const PointCloudXYZ::Ptr& cloud)
{
if (!viewer_ptr->wasStopped ())
viewer_ptr->showCloud (cloud);
}
/** @brief Main function
* @return Exit status */
int
main ()
{
viewer_ptr.reset (new CloudViewer ("Ensenso 3D cloud viewer"));
ensenso_ptr.reset (new pcl::EnsensoGrabber);
ensenso_ptr->openTcpPort ();
ensenso_ptr->openDevice ();
std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
ensenso_ptr->registerCallback (f);
ensenso_ptr->start ();
while (!viewer_ptr->wasStopped ())
{
std::this_thread::sleep_for(1s);
std::cout << "FPS: " << ensenso_ptr->getFramesPerSecond () << std::endl;
}
ensenso_ptr->closeDevice ();
return (0);
}
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