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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: Nico Blodow (blodow@cs.tum.edu)
* Radu Bogdan Rusu (rusu@willowgarage.com)
* Suat Gedikli (gedikli@willowgarage.com)
* Ethan Rublee (rublee@willowgarage.com)
*/
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/time.h> //fps calculations
#include <pcl/console/parse.h>
#include <pcl/io/oni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/time_trigger.h>
#include <mutex>
#define SHOW_FPS 1
#if SHOW_FPS
#define FPS_CALC(_WHAT_) \
do \
{ \
static unsigned count = 0;\
static double last = pcl::getTime ();\
++count; \
if (pcl::getTime() - last >= 1.0) \
{ \
double now = pcl::getTime (); \
std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \
count = 0; \
last = now; \
} \
}while(false)
#else
#define FPS_CALC(_WHAT_) \
do \
{ \
}while(false)
#endif
template <typename PointType>
class SimpleONIViewer
{
public:
using Cloud = pcl::PointCloud<PointType>;
using CloudConstPtr = typename Cloud::ConstPtr;
SimpleONIViewer(pcl::ONIGrabber& grabber)
: viewer("PCL OpenNI Viewer")
, grabber_(grabber)
, cloud_ ()
{
}
/**
* @brief Callback method for the grabber interface
* @param cloud The new point cloud from Grabber
*/
void
cloud_cb_ (const CloudConstPtr& cloud)
{
FPS_CALC ("callback");
std::lock_guard<std::mutex> lock (mtx_);
cloud_ = cloud;
}
/**
* @brief swaps the pointer to the point cloud with Null pointer and returns the cloud pointer
* @return boost shared pointer to point cloud
*/
CloudConstPtr
getLatestCloud ()
{
//lock while we swap our cloud and reset it.
std::lock_guard<std::mutex> lock(mtx_);
CloudConstPtr temp_cloud;
temp_cloud.swap (cloud_); //here we set cloud_ to null, so that
//it is safe to set it again from our
//callback
return (temp_cloud);
}
/**
* @brief starts the main loop
*/
void
run()
{
//pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id_, pcl::OpenNIGrabber::OpenNI_QQVGA_30Hz, pcl::OpenNIGrabber::OpenNI_VGA_30Hz);
std::function<void (const CloudConstPtr&) > f = [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };
boost::signals2::connection c = grabber_.registerCallback (f);
grabber_.start();
while (!viewer.wasStopped ())
{
if (cloud_)
{
FPS_CALC ("drawing");
//the call to get() sets the cloud_ to null;
viewer.showCloud (getLatestCloud (), "cloud");
}
}
grabber_.stop();
}
pcl::visualization::CloudViewer viewer;
pcl::ONIGrabber& grabber_;
std::mutex mtx_;
CloudConstPtr cloud_;
};
void
usage(char ** argv)
{
std::cout << "usage: " << argv[0] << " <path-to-oni-file> [framerate]\n";
std::cout << argv[0] << " -h | --help : shows this help\n";
std::cout << argv[0] << " -xyz : enable just XYZ data display\n";
return;
}
int
main(int argc, char ** argv)
{
std::string arg;
unsigned frame_rate = 0;
if (argc >= 2)
{
arg = argv[1];
if (arg == "--help" || arg == "-h")
{
usage(argv);
return 1;
}
if (argc >= 3)
{
frame_rate = atoi(argv[2]);
}
}
else
{
usage (argv);
return 1;
}
pcl::TimeTrigger trigger;
pcl::ONIGrabber grabber (arg, true, frame_rate == 0);
if (frame_rate != 0)
{
trigger.setInterval (1.0 / static_cast<double> (frame_rate));
trigger.registerCallback ([&] { grabber.start (); });
trigger.start();
}
if (grabber.providesCallback<pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb > () && !pcl::console::find_switch (argc, argv, "-xyz"))
{
SimpleONIViewer<pcl::PointXYZRGBA> v(grabber);
v.run();
}
else
{
SimpleONIViewer<pcl::PointXYZ> v(grabber);
v.run();
}
return (0);
}
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