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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Willow Garage, Inc.
* 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/image_grabber.h>
#include <pcl/common/pcl_filesystem.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
using pcl::console::print_error;
using pcl::console::print_info;
using pcl::console::print_value;
pcl::ImageGrabber<pcl::PointXYZRGBA>::Ptr grabber;
pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud_;
std::string out_folder;
int counter;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s <options>\n", argv[0]);
print_info (" where options are:\n");
print_info ("\t-rgb_dir \t<directory_path> \t= directory path to RGB images to be read from\n");
print_info ("\t-depth_dir \t<directory_path> \t= directory path to Depth images to be read from\n");
print_info ("\t-out_dir \t<directory_path> \t= directory path to put the pcd files\n");
//print_info ("\t-fps frequency = frames per second\n");
print_info ("\n");
}
struct EventHelper
{
void
cloud_cb (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr & cloud)
{
const std::string filepath = out_folder + '/' + grabber->getPrevDepthFileName() + ".pcd";
pcl::io::savePCDFileASCII (filepath, *cloud);
}
};
/* ---[ */
int
main (int argc, char** argv)
{
counter = 0;
out_folder.clear();
if (argc > 1)
{
for (int i = 1; i < argc; i++)
{
if (std::string (argv[i]) == "-h")
{
printHelp (argc, argv);
return (-1);
}
}
}
float frames_per_second = 0; // 0 means only if triggered!
pcl::console::parse (argc, argv, "-fps", frames_per_second);
if (frames_per_second < 0)
frames_per_second = 0.0;
float focal_length = 525.0;
pcl::console::parse (argc, argv, "-focal", focal_length);
std::string depth_path;
pcl::console::parse_argument (argc, argv, "-depth_dir", depth_path);
std::string rgb_path;
pcl::console::parse_argument (argc, argv, "-rgb_dir", rgb_path);
pcl::console::parse_argument (argc, argv, "-out_dir", out_folder);
if (out_folder.empty() || !pcl_fs::exists (out_folder))
{
PCL_INFO("No correct directory was given with the -out_dir flag. Setting to current dir\n");
out_folder = "./";
}
else
PCL_INFO("Using %s as output dir", out_folder.c_str());
if (!rgb_path.empty() && !depth_path.empty() && pcl_fs::exists (rgb_path) && pcl_fs::exists (depth_path))
{
grabber.reset (new pcl::ImageGrabber<pcl::PointXYZRGBA> (depth_path, rgb_path, frames_per_second, false));
}
else
{
PCL_INFO("No directory was given with the -<rgb/depth>_dir flag.");
printHelp (argc, argv);
return (-1);
}
grabber->setDepthImageUnits (static_cast<float>(1E-3));
//grabber->setFocalLength(focal_length); // FIXME
EventHelper h;
std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = [&] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
{
h.cloud_cb (cloud);
};
boost::signals2::connection c1 = grabber->registerCallback (f);
do
{
grabber->trigger();
}
while (!grabber->atLastFrame());
grabber->trigger(); // Attempt to process the last frame
grabber->stop ();
}
/* ]--- */
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