int
main (int argc, char** argv)
{
print_highlight ("PCL OpenNI Recorder for saving buffered PCD (binary compressed to disk). See %s -h for options.\n", argv[0]);
int buff_size = BUFFER_SIZE;
if (find_switch (argc, argv, "-h") || find_switch (argc, argv, "--help"))
{
print_info ("Options are: \n"
" -xyz = save only XYZ data, even if the device is RGB capable\n"
" -shift = use OpenNI shift values rather than 12-bit depth\n"
" -buf X = use a buffer size of X frames (default: ");
print_value ("%d", buff_size); print_info (")\n");
return (0);
}
bool just_xyz = find_switch (argc, argv, "-xyz");
openni_wrapper::OpenNIDevice::DepthMode depth_mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth;
if (find_switch (argc, argv, "-shift"))
depth_mode = openni_wrapper::OpenNIDevice::OpenNI_shift_values;
if (parse_argument (argc, argv, "-buf", buff_size) != -1)
print_highlight ("Setting buffer size to %d frames.\n", buff_size);
else
print_highlight ("Using default buffer size of %d frames.\n", buff_size);
print_highlight ("Starting the producer and consumer threads... Press Cltr+C to end\n");
OpenNIGrabber grabber ("");
if (grabber.providesCallback<OpenNIGrabber::sig_cb_openni_point_cloud_rgba> () &&
!just_xyz)
{
print_highlight ("PointXYZRGBA enabled.\n");
PCDBuffer<PointXYZRGBA> buf;
buf.setCapacity (buff_size);
Producer<PointXYZRGBA> producer (buf, depth_mode);
boost::this_thread::sleep (boost::posix_time::seconds (2));
Consumer<PointXYZRGBA> consumer (buf);
signal (SIGINT, ctrlC);
producer.stop ();
consumer.stop ();
}
else
{
print_highlight ("PointXYZ enabled.\n");
PCDBuffer<PointXYZ> buf;
buf.setCapacity (buff_size);
Producer<PointXYZ> producer (buf, depth_mode);
boost::this_thread::sleep (boost::posix_time::seconds (2));
Consumer<PointXYZ> consumer (buf);
signal (SIGINT, ctrlC);
producer.stop ();
consumer.stop ();
}
return (0);
}
int
main (int argc, char** argv)
{
int buff_size = BUFFER_SIZE;
if (argc == 2)
{
buff_size = atoi (argv[1]);
std::cout << "Setting buffer size to " << buff_size << " frames " << std::endl;
}
else
{
std::cout << "Using default buffer size of " << buff_size << " frames " << std::endl;
}
buff.setCapacity (buff_size);
std::cout << "Starting the producer and consumer threads..." << std::endl;
std::cout << "Press Ctrl-C to end" << std::endl;
boost::thread producer (grabAndSend);
boost::this_thread::sleep (boost::posix_time::seconds (2));
boost::thread consumer (receiveAndProcess);
signal (SIGINT, ctrlC);
producer.join ();
{
boost::mutex::scoped_lock io_lock (io_mutex);
std::cout << "Producer done" << std::endl;
}
consumer.join ();
std::cout << "Consumer done" << std::endl;
return (0);
}
int
main (int argc, char** argv)
{
print_highlight ("PCL OpenNI Recorder for saving buffered PCD (binary compressed to disk). See %s -h for options.\n", argv[0]);
std::string device_id ("");
int buff_size = BUFFER_SIZE;
openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
if (driver.getNumberDevices () > 0) {
cout << "Device Id not set, using first device." << endl;
}
bool just_xyz = find_switch (argc, argv, "-xyz");
openni_wrapper::OpenNIDevice::DepthMode depth_mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth;
if (find_switch (argc, argv, "-shift"))
depth_mode = openni_wrapper::OpenNIDevice::OpenNI_shift_values;
if (parse_argument (argc, argv, "-buf", buff_size) != -1)
print_highlight ("Setting buffer size to %d frames.\n", buff_size);
else
print_highlight ("Using default buffer size of %d frames.\n", buff_size);
print_highlight ("Starting the producer and consumer threads... Press 's' to capture and 'q' to quit\n");
OpenNIGrabber grabber (device_id);
if (grabber.providesCallback<OpenNIGrabber::sig_cb_openni_point_cloud_rgba> () &&
!just_xyz) {
print_highlight ("PointXYZRGBA enabled.\n");
PCDBuffer<PointXYZRGBA> buf;
buf.setCapacity (buff_size);
Producer<PointXYZRGBA> producer (buf, depth_mode);
// boost::this_thread::sleep (boost::posix_time::seconds (2));
string prefix = "frame";
pcl::console::parse_argument (argc, argv, "-name", prefix);
Consumer<PointXYZRGBA> consumer (buf, prefix);
// consumer.pcd_nb() = 0;
producer.stop ();
consumer.stop ();
}
return (0);
}
//////////////////////////////////////////////////////////////////////////////////////////
// Consumer thread function
void
receiveAndProcess ()
{
while (true)
{
if (is_done)
break;
writeToDisk (buff.getFront ());
}
{
boost::mutex::scoped_lock io_lock (io_mutex);
std::cout << "Writing remaing " << buff.getSize () << " clouds in the buffer to disk..." << std::endl;
}
while (!buff.isEmpty ())
{
writeToDisk (buff.getFront ());
}
}
void
grabberCallBack (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
{
if (!buff.pushBack (cloud))
{
{
boost::mutex::scoped_lock io_lock(io_mutex);
std::cout << "Warning! Buffer was full, overwriting data" << std::endl;
}
}
FPS_CALC ("cloud callback");
}
