pcd_grabber.h

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#include <pcl/pcl_config.h>

#ifndef PCL_IO_PCD_GRABBER_H_
#define PCL_IO_PCD_GRABBER_H_

#include <pcl/common/io.h>
#include <pcl/io/grabber.h>
#include <pcl/io/file_grabber.h>
#include <pcl/common/time_trigger.h>
#include <string>
#include <vector>
#include <pcl/conversions.h>

#ifdef HAVE_OPENNI
#include <pcl/io/openni_camera/openni_image.h>
#include <pcl/io/openni_camera/openni_image_rgb24.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
#endif

namespace pcl
{
  class PCL_EXPORTS PCDGrabberBase : public Grabber
  {
    public:   
      PCDGrabberBase (const std::string& pcd_file, float frames_per_second, bool repeat);

      PCDGrabberBase (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat);

      PCDGrabberBase (const PCDGrabberBase &src) : Grabber (), impl_ ()
      {
        *this = src;
      }

      PCDGrabberBase&
      operator = (const PCDGrabberBase &src)
      {
        impl_ = src.impl_;
        return (*this);
      }

      virtual ~PCDGrabberBase () throw ();

      virtual void 
      start ();
      
      virtual void 
      stop ();
      
      virtual void 
      trigger ();

      virtual bool 
      isRunning () const;
      
      virtual std::string 
      getName () const;
      
      virtual void 
      rewind ();

      virtual float 
      getFramesPerSecond () const;

      bool 
      isRepeatOn () const;
  
      bool
      getCloudAt (size_t idx, 
                  pcl::PCLPointCloud2 &blob,
                  Eigen::Vector4f &origin, 
                  Eigen::Quaternionf &orientation) const;

      size_t
      numFrames () const;

    private:
      virtual void 
      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const = 0;

      // to separate and hide the implementation from interface: PIMPL
      struct PCDGrabberImpl;
      PCDGrabberImpl* impl_;
  };

  template <typename T> class PointCloud;
  template <typename PointT> class PCDGrabber : public PCDGrabberBase, public FileGrabber<PointT>
  {
    public:
      PCDGrabber (const std::string& pcd_path, float frames_per_second = 0, bool repeat = false);
      PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second = 0, bool repeat = false);
      
      virtual ~PCDGrabber () throw () {}
    
      // Inherited from FileGrabber
      const boost::shared_ptr< const pcl::PointCloud<PointT> >
      operator[] (size_t idx) const;

      // Inherited from FileGrabber
      size_t
      size () const;
    protected:

      virtual void 
      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const;
      
      boost::signals2::signal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>* signal_;

#ifdef HAVE_OPENNI
      boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::DepthImage>&)>*     depth_image_signal_;
      boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::Image>&)>*     image_signal_;
      boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant)>*     image_depth_image_signal_;
#endif
  };

  template<typename PointT>
  PCDGrabber<PointT>::PCDGrabber (const std::string& pcd_path, float frames_per_second, bool repeat)
  : PCDGrabberBase (pcd_path, frames_per_second, repeat)
  {
    signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
#ifdef HAVE_OPENNI
    depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
    image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&)> ();
    image_depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant)> ();
#endif
  }

  template<typename PointT>
  PCDGrabber<PointT>::PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat)
    : PCDGrabberBase (pcd_files, frames_per_second, repeat), signal_ ()
  {
    signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
#ifdef HAVE_OPENNI
    depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
    image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&)> ();
    image_depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant)> ();
#endif
  }

  template<typename PointT> const boost::shared_ptr< const pcl::PointCloud<PointT> >
  PCDGrabber<PointT>::operator[] (size_t idx) const
  {
    pcl::PCLPointCloud2 blob;
    Eigen::Vector4f origin;
    Eigen::Quaternionf orientation;
    getCloudAt (idx, blob, origin, orientation);
    typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
    pcl::fromPCLPointCloud2 (blob, *cloud);
    cloud->sensor_origin_ = origin;
    cloud->sensor_orientation_ = orientation;
    return (cloud);
  }

  template <typename PointT> size_t
  PCDGrabber<PointT>::size () const
  {
    return (numFrames ());
  }

  template<typename PointT> void 
  PCDGrabber<PointT>::publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const
  {
    typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
    pcl::fromPCLPointCloud2 (blob, *cloud);
    cloud->sensor_origin_ = origin;
    cloud->sensor_orientation_ = orientation;

    signal_->operator () (cloud);

#ifdef HAVE_OPENNI
    // If dataset is not organized, return
    if (!cloud->isOrganized ())
      return;

    boost::shared_ptr<xn::DepthMetaData> depth_meta_data (new xn::DepthMetaData);
    depth_meta_data->AllocateData (cloud->width, cloud->height);
    XnDepthPixel* depth_map = depth_meta_data->WritableData ();
    uint32_t k = 0;
    for (uint32_t i = 0; i < cloud->height; ++i)
      for (uint32_t j = 0; j < cloud->width; ++j)
      {
        depth_map[k] = static_cast<XnDepthPixel> ((*cloud)[k].z * 1000);
        ++k;
      }

    boost::shared_ptr<openni_wrapper::DepthImage> depth_image (new openni_wrapper::DepthImage (depth_meta_data, 0.075f, 525, 0, 0));
    if (depth_image_signal_->num_slots() > 0)
      depth_image_signal_->operator()(depth_image);

    // ---[ RGB special case
    std::vector<pcl::PCLPointField> fields;
    int rgba_index = pcl::getFieldIndex (*cloud, "rgb", fields);
    if (rgba_index == -1)
      rgba_index = pcl::getFieldIndex (*cloud, "rgba", fields);
    if (rgba_index >= 0)
    {
      rgba_index = fields[rgba_index].offset;

      boost::shared_ptr<xn::ImageMetaData> image_meta_data (new xn::ImageMetaData);
      image_meta_data->AllocateData (cloud->width, cloud->height, XN_PIXEL_FORMAT_RGB24);
      XnRGB24Pixel* image_map = image_meta_data->WritableRGB24Data ();
      k = 0;
      for (uint32_t i = 0; i < cloud->height; ++i)
      {
        for (uint32_t j = 0; j < cloud->width; ++j)
        {
          // Fill r/g/b data, assuming that the order is BGRA
          pcl::RGB rgb;
          memcpy (&rgb, reinterpret_cast<const char*> (&cloud->points[k]) + rgba_index, sizeof (RGB));
          image_map[k].nRed = static_cast<XnUInt8> (rgb.r);
          image_map[k].nGreen = static_cast<XnUInt8> (rgb.g);
          image_map[k].nBlue = static_cast<XnUInt8> (rgb.b);
          ++k;
        }
      }

      boost::shared_ptr<openni_wrapper::Image> image (new openni_wrapper::ImageRGB24 (image_meta_data));
      if (image_signal_->num_slots() > 0)
        image_signal_->operator()(image);
      
      if (image_depth_image_signal_->num_slots() > 0)
        image_depth_image_signal_->operator()(image, depth_image, 1.0f / 525.0f);
    }
#endif
  }
}
#endif