openni_grab_frame.cpp

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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;
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 *  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)
 *         Christian Potthast (potthast@usc.edu)
 */

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/time.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <boost/filesystem.hpp>
#include <pcl/visualization/pcl_visualizer.h>



#define SHOW_FPS 1
#if SHOW_FPS
#define FPS_CALC(_WHAT_) \
do \
{ \
    static unsigned count = 0;\
    static double last = pcl::getTime ();\
    double now = pcl::getTime (); \
    ++count; \
    if (now - last >= 1.0) \
    { \
      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

using namespace pcl::console;
using namespace boost::filesystem;

template<typename PointType>
class OpenNIGrabFrame
{
  typedef pcl::PointCloud<PointType> Cloud;
  typedef typename Cloud::ConstPtr CloudConstPtr;  
  public:
    OpenNIGrabFrame (pcl::OpenNIGrabber &grabber)
    : visualizer_ (new pcl::visualization::PCLVisualizer ("OpenNI Viewer"))
    , writer_ ()
    , quit_ (false)
    , continuous_ (false)
    , trigger_ (false)
    , file_name_ ("")
    , dir_name_ ("")
    , format_ (4)
    , grabber_ (grabber)
    , visualizer_enable_ (true)
    {
    }

    void 
    cloud_cb_ (const CloudConstPtr& cloud)
    {
      if (quit_)
        return;
      
      boost::mutex::scoped_lock lock (cloud_mutex_);
        cloud_ = cloud;
        
      if (continuous_ || trigger_)
        saveCloud ();
      
      trigger_ = false;
    }
    
    void 
    keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
    {
      if (event.keyUp ())
      {
        switch (event.getKeyCode ())
        {
          case 27:
          case 'Q':
          case 'q': quit_ = true; visualizer_->close ();
            break;
          case 'V':
          case 'v': visualizer_enable_ = !visualizer_enable_;
            break;
          case ' ': continuous_ = !continuous_;
            break;
        }
      }
    }
    
    void 
    mouse_callback (const pcl::visualization::MouseEvent& mouse_event, void*)
    {
      if (mouse_event.getType() == pcl::visualization::MouseEvent::MouseButtonPress && mouse_event.getButton() == pcl::visualization::MouseEvent::LeftButton)
      {
        trigger_ = true;
      }
    }
    
    CloudConstPtr
    getLatestCloud ()
    {
      //lock while we swap our cloud and reset it.
      boost::mutex::scoped_lock lock(cloud_mutex_);
      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);
    }
    
    void saveCloud ()
    {
      FPS_CALC ("I/O");
      std::stringstream ss;
      ss << dir_name_ << "/" << file_name_ << "_" << boost::posix_time::to_iso_string (boost::posix_time::microsec_clock::local_time ()) << ".pcd";

      if (format_ & 1)
      {
        writer_.writeBinary<PointType> (ss.str (), *cloud_);
        //std::cerr << "Data saved in BINARY format to " << ss.str () << std::endl;
      }
      
      if (format_ & 2)
      {
        writer_.writeBinaryCompressed<PointType> (ss.str (), *cloud_);
        //std::cerr << "Data saved in BINARY COMPRESSED format to " << ss.str () << std::endl;
      }
      
      if (format_ & 4)
      {
        writer_.writeBinaryCompressed<PointType> (ss.str (), *cloud_);
        //std::cerr << "Data saved in BINARY COMPRESSED format to " << ss.str () << std::endl;
      }
    }
    
    void 
    run ()
    {
      // register the keyboard and mouse callback for the visualizer
      visualizer_->registerMouseCallback (&OpenNIGrabFrame::mouse_callback, *this);
      visualizer_->registerKeyboardCallback(&OpenNIGrabFrame::keyboard_callback, *this);
      

      // make callback function from member function
      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIGrabFrame::cloud_cb_, this, _1);

      // connect callback function for desired signal. In this case its a point cloud with color values
      boost::signals2::connection c = grabber_.registerCallback (f);

      // start receiving point clouds
      grabber_.start ();

      // wait until user quits program with Ctrl-C, but no busy-waiting -> sleep (1);
      while (!visualizer_->wasStopped())
      {
        boost::this_thread::sleep (boost::posix_time::microseconds (100));

        visualizer_->spinOnce ();
        
        if (!visualizer_enable_)
          continue;

        if (cloud_)
        {
          CloudConstPtr cloud = getLatestCloud ();
          if (!visualizer_->updatePointCloud (cloud, "OpenNICloud"))
          {
            visualizer_->addPointCloud (cloud, "OpenNICloud");
            visualizer_->resetCameraViewpoint ("OpenNICloud");
          }          
        }
      }
      
      //while (!quit_)
        //boost::this_thread::sleep (boost::posix_time::seconds (1));
   
      // stop the grabber
      grabber_.stop ();
    }

    void
    setOptions (std::string filename, std::string pcd_format, bool paused, bool visualizer)
    {
      boost::filesystem::path path(filename);

      if (filename.empty ())
      {
        dir_name_ = ".";
        file_name_ = "frame";
      }
      else
      {
        dir_name_ = path.parent_path ().string ();
        
        if (!dir_name_.empty () && !boost::filesystem::exists (path.parent_path ()))
        {
          std::cerr << "directory \"" << path.parent_path () << "\" does not exist!\n";
          exit (1);
        }
#if BOOST_FILESYSTEM_VERSION == 3
        file_name_ = path.stem ().string ();
#else
        file_name_ = path.stem ();
#endif
      }
      
      std::cout << "dir: " << dir_name_ << " :: " << path.parent_path () << std::endl;
#if BOOST_FILESYSTEM_VERSION == 3
      std::cout << "file: " << file_name_ << " :: " << path.stem (). string () << std::endl;
#else
      std::cout << "file: " << file_name_ << " :: " << path.stem () << std::endl;
#endif
      
      if (pcd_format == "b" || pcd_format == "all")
        format_ |= 1;
      else if (pcd_format == "ascii" || pcd_format == "all")
        format_ |= 2;
      else if (pcd_format == "bc" || pcd_format == "all")
        format_ |= 4;
    
      continuous_ = !paused;
      visualizer_enable_ = visualizer;
    }

    boost::shared_ptr<pcl::visualization::PCLVisualizer> visualizer_;
    pcl::PCDWriter writer_;
    bool quit_;
    bool continuous_;
    bool trigger_;
    std::string file_name_;
    std::string dir_name_;
    unsigned format_;
    CloudConstPtr cloud_;
    mutable boost::mutex cloud_mutex_;
    pcl::OpenNIGrabber &grabber_;
    bool visualizer_enable_;
};

void
usage (char ** argv)
{
  std::cout << "usage: " << argv[0] << " <filename> <options>\n\n";
  
  print_info ("  filename: if no filename is provided a generic timestamp will be set as filename\n\n");
  print_info ("  where options are:\n");
  print_info ("                    -format = PCD file format (b=binary; bc=binary compressed; ascii=ascii; all=all) (default: bc)\n");
  print_info ("                    -XYZ  = store just a XYZ cloud\n");
  print_info ("                    -paused = start grabber in paused mode. Toggle pause by pressing the space bar\n");
  print_info ("                              or grab single frames by just pressing the left mouse button.\n");
  print_info ("                    -imagemode = select the image mode (resolution, fps) for the grabber, see pcl::OpenNIGrabber::Mode for details.\n");
  print_info ("                    -depthmode = select the depth mode (resolution, fps) for the grabber, see pcl::OpenNIGrabber::Mode for details.\n");
  print_info ("                    -visualizer 0/1 = turn OFF or ON the visualization of point clouds in the viewer (can also be changed using 'v'/'V' in the viewer).\n");
}

int 
main (int argc, char** argv)
{
  std::string arg;
  if (argc > 1)
    arg = std::string (argv[1]);

  if (arg == "--help" || arg == "-h")
  {
    usage (argv);
    return 1;
  }

  std::string format = "bc";
  std::string filename;
  bool paused = false;
  bool xyz = false;
  bool visualizer = true;
  pcl::OpenNIGrabber::Mode depth_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
  pcl::OpenNIGrabber::Mode image_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;

  if (argc > 1)
  {
    // Parse the command line arguments for .pcd file
    std::vector<int> p_file_indices;
    p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
    if (p_file_indices.size () > 0)
      filename = argv[p_file_indices[0]];
    
    std::cout << "fname: " << filename << std::endl;
    // Command line parsing
    parse_argument (argc, argv, "-format", format);
    xyz = find_switch (argc, argv, "-XYZ");
    paused = find_switch (argc, argv, "-paused");
    visualizer = find_switch (argc, argv, "-visualizer");

    unsigned mode;
    if (pcl::console::parse(argc, argv, "-depthmode", mode) != -1)
      depth_mode = pcl::OpenNIGrabber::Mode (mode);

    if (pcl::console::parse(argc, argv, "-imagemode", mode) != -1)
      image_mode = pcl::OpenNIGrabber::Mode (mode);
  }

  pcl::OpenNIGrabber grabber ("#1", depth_mode, image_mode);

  if (xyz)
  {
    OpenNIGrabFrame<pcl::PointXYZ> grab_frame (grabber);
    grab_frame.setOptions (filename, format, paused, visualizer);
    grab_frame.run ();
  }
  else
  {
    OpenNIGrabFrame<pcl::PointXYZRGBA> grab_frame (grabber);
    grab_frame.setOptions (filename, format, paused, visualizer);
    grab_frame.run ();
  }
  return (0);
}