openni_mobile_server.cpp

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#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/parse.h>
#include <pcl/common/time.h>

#include <boost/asio.hpp>
#include <boost/thread/thread.hpp>

using boost::asio::ip::tcp;


struct PointCloudBuffers
{
  typedef boost::shared_ptr<PointCloudBuffers> Ptr;
  std::vector<short> points;
  std::vector<unsigned char> rgb;
};

void
CopyPointCloudToBuffers (pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud, PointCloudBuffers& cloud_buffers)
{
  const size_t nr_points = cloud->points.size ();

  cloud_buffers.points.resize (nr_points*3);
  cloud_buffers.rgb.resize (nr_points*3);

  const pcl::PointXYZ  bounds_min (-0.9, -0.8, 1.0);
  const pcl::PointXYZ  bounds_max (0.9, 3.0, 3.3);

  size_t j = 0;
  for (size_t i = 0; i < nr_points; ++i)
  {

    const pcl::PointXYZRGBA& point = cloud->points[i];

    if (!pcl_isfinite (point.x) || 
        !pcl_isfinite (point.y) || 
        !pcl_isfinite (point.z))
      continue;

    if (point.x < bounds_min.x ||
        point.y < bounds_min.y ||
        point.z < bounds_min.z ||
        point.x > bounds_max.x ||
        point.y > bounds_max.y ||
        point.z > bounds_max.z)
      continue;

    const int conversion_factor = 500;

    cloud_buffers.points[j*3 + 0] = static_cast<short> (point.x * conversion_factor);
    cloud_buffers.points[j*3 + 1] = static_cast<short> (point.y * conversion_factor);
    cloud_buffers.points[j*3 + 2] = static_cast<short> (point.z * conversion_factor);

    cloud_buffers.rgb[j*3 + 0] = point.r;
    cloud_buffers.rgb[j*3 + 1] = point.g;
    cloud_buffers.rgb[j*3 + 2] = point.b;

    j++;
  }

  cloud_buffers.points.resize (j * 3);
  cloud_buffers.rgb.resize (j * 3);
}


template <typename PointType>
class PCLMobileServer
{
  public:

    typedef pcl::PointCloud<PointType> Cloud;
    typedef typename Cloud::Ptr CloudPtr;
    typedef typename Cloud::ConstPtr CloudConstPtr;

    PCLMobileServer (const std::string& device_id = "", int port = 11111,
                     float leaf_size_x = 0.01, float leaf_size_y = 0.01, float leaf_size_z = 0.01)
    : port_ (port),
      device_id_ (device_id),
      viewer_ ("PCL OpenNI Mobile Server")
    {
      voxel_grid_filter_.setLeafSize (leaf_size_x, leaf_size_y, leaf_size_z);
    }
    
    void
    handleIncomingCloud (const CloudConstPtr& new_cloud)
    {
      CloudPtr temp_cloud (new Cloud);
      voxel_grid_filter_.setInputCloud (new_cloud);
      voxel_grid_filter_.filter (*temp_cloud);

      PointCloudBuffers::Ptr new_buffers = PointCloudBuffers::Ptr (new PointCloudBuffers);
      CopyPointCloudToBuffers (temp_cloud, *new_buffers);

      boost::mutex::scoped_lock lock (mutex_);
      filtered_cloud_ = temp_cloud;
      buffers_ = new_buffers;
    }

    PointCloudBuffers::Ptr
    getLatestBuffers ()
    {
      boost::mutex::scoped_lock lock (mutex_);
      return (buffers_);
    }

    CloudPtr
    getLatestPointCloud ()
    {
      boost::mutex::scoped_lock lock (mutex_);
      return (filtered_cloud_);
    }

    void
    run ()
    {
      pcl::OpenNIGrabber grabber (device_id_);
      boost::function<void (const CloudConstPtr&)> handler_function = boost::bind (&PCLMobileServer::handleIncomingCloud, this, _1);
      grabber.registerCallback (handler_function);
      grabber.start ();

      // wait for first cloud
      while (!getLatestPointCloud ())
        boost::this_thread::sleep (boost::posix_time::milliseconds (10));

      viewer_.showCloud (getLatestPointCloud ());


      boost::asio::io_service io_service;
      tcp::endpoint endpoint (tcp::v4 (), static_cast<unsigned short> (port_));
      tcp::acceptor acceptor (io_service, endpoint);
      tcp::socket socket (io_service);

      std::cout << "Listening on port " << port_ << "..." << std::endl;
      acceptor.accept (socket);

      std::cout << "Client connected." << std::endl;

      double start_time = pcl::getTime ();
      int counter = 0;

      while (!viewer_.wasStopped ())
      {

        // wait for client
        unsigned int nr_points = 0;
        boost::asio::read (socket, boost::asio::buffer (&nr_points, sizeof (nr_points)));

        PointCloudBuffers::Ptr buffers_to_send = getLatestBuffers ();

        nr_points = static_cast<unsigned int> (buffers_to_send->points.size()/3);
        boost::asio::write (socket, boost::asio::buffer (&nr_points, sizeof (nr_points)));

        if (nr_points)
        {
          boost::asio::write (socket, boost::asio::buffer (&buffers_to_send->points.front(), nr_points * 3 * sizeof (short)));
          boost::asio::write (socket, boost::asio::buffer (&buffers_to_send->rgb.front(), nr_points * 3 * sizeof (unsigned char)));
        }

        counter++;

        double new_time = pcl::getTime ();
        double elapsed_time = new_time - start_time;
        if (elapsed_time > 1.0)
        {
          double frames_per_second = counter / elapsed_time;
          start_time = new_time;
          counter = 0;
          std::cout << "fps: " << frames_per_second << std::endl;
        }

        viewer_.showCloud (getLatestPointCloud ());
      }

      grabber.stop ();
    }

    int port_;
    std::string device_id_;
    boost::mutex mutex_;

    pcl::VoxelGrid<PointType> voxel_grid_filter_;
    pcl::visualization::CloudViewer viewer_;

    CloudPtr filtered_cloud_;
    PointCloudBuffers::Ptr buffers_;
};

void
usage (char ** argv)
{
  std::cout << "usage: " << argv[0] << " <options>\n"
            << "where options are:\n"
            << "  -port p :: set the server port (default: 11111)\n"
            << "  -leaf x, y, z  :: set the voxel grid leaf size (default: 0.01)\n";
}


int 
main (int argc, char ** argv)
{
  if (pcl::console::find_argument (argc, argv, "-h") != -1)
  {
    usage (argv);
    return (0);
  }

  int port = 11111;
  double leaf_x = 0.01, leaf_y = 0.01, leaf_z = 0.01;
  std::string device_id = "";

  pcl::console::parse_argument (argc, argv, "-port", port);
  pcl::console::parse_3x_arguments (argc, argv, "-leaf", leaf_x, leaf_y, leaf_z, false);

  pcl::OpenNIGrabber grabber ("");
  if (!grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba> ())
  {
    std::cout << "OpenNI grabber does not provide the rgba cloud format." << std::endl;
    return (1);
  }

  PCL_INFO ("Using %f, %f, %f as a leaf size for VoxelGrid.\n", leaf_x, leaf_y, leaf_z);

  PCLMobileServer<pcl::PointXYZRGBA> server (device_id, port, leaf_x, leaf_y, leaf_z);
  server.run ();

  return (0);
}