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Drawing the Point Cloud using PCLVisualizer with Kinect v2 Grabber
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// Disable Error C4996 that occur when using Boost.Signals2. | |
#ifdef _DEBUG | |
#define _SCL_SECURE_NO_WARNINGS | |
#endif | |
#include "kinect2_grabber.h" | |
#include <pcl/visualization/pcl_visualizer.h> | |
template <typename PointType> | |
class Viewer | |
{ | |
typedef pcl::PointCloud<PointType> PointCloud; | |
typedef typename PointCloud::ConstPtr ConstPtr; | |
public: | |
Viewer( pcl::Grabber& grabber ) | |
: viewer( new pcl::visualization::PCLVisualizer( "Point Cloud Viewer" ) ) | |
, grabber( grabber ) | |
{ | |
} | |
void run() | |
{ | |
viewer->registerMouseCallback( &Viewer::mouse_callback, *this ); | |
viewer->registerKeyboardCallback( &Viewer::keyboard_callback, *this ); | |
boost::function<void( const ConstPtr& ) > callback = boost::bind( &Viewer::cloud_callback, this, _1 ); | |
boost::signals2::connection connection = grabber.registerCallback( callback ); | |
grabber.start(); | |
while( !viewer->wasStopped() ){ | |
viewer->spinOnce(); | |
ConstPtr cloud; | |
if( mutex.try_lock() ){ | |
buffer.swap( cloud ); | |
mutex.unlock(); | |
} | |
if( cloud ){ | |
if( !viewer->updatePointCloud( cloud, "Cloud" ) ){ | |
viewer->addPointCloud( cloud, "Cloud" ); | |
} | |
} | |
} | |
grabber.stop(); | |
if( connection.connected() ){ | |
connection.disconnect(); | |
} | |
} | |
private: | |
void cloud_callback( const ConstPtr& cloud ) | |
{ | |
boost::mutex::scoped_lock lock( mutex ); | |
buffer = cloud->makeShared(); | |
} | |
void keyboard_callback( const pcl::visualization::KeyboardEvent& event, void* ) | |
{ | |
if( event.getKeyCode() && event.keyDown() ){ | |
std::cout << "Key : " << event.getKeyCode() << std::endl; | |
} | |
} | |
void mouse_callback( const pcl::visualization::MouseEvent& event, void* ) | |
{ | |
if( event.getType() == pcl::visualization::MouseEvent::MouseButtonPress && event.getButton() == pcl::visualization::MouseEvent::LeftButton ){ | |
std::cout << "Mouse : " << event.getX() << ", " << event.getY() << std::endl; | |
} | |
} | |
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer; | |
pcl::Grabber& grabber; | |
boost::mutex mutex; | |
ConstPtr buffer; | |
}; | |
int _tmain( int argc, _TCHAR* argv[] ) | |
{ | |
boost::shared_ptr<pcl::Grabber> grabber = boost::make_shared<pcl::Kinect2Grabber>(); | |
Viewer<pcl::PointXYZRGB> viewer( *grabber ); | |
viewer.run(); | |
return 0; | |
} |
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// Disable Error C4996 that occur when using Boost.Signals2. | |
#ifdef _DEBUG | |
#define _SCL_SECURE_NO_WARNINGS | |
#endif | |
#include "kinect2_grabber.h" | |
#include <pcl/visualization/pcl_visualizer.h> | |
typedef pcl::PointXYZRGBA PointType; | |
void keyboard_callback( const pcl::visualization::KeyboardEvent& event, void* ) | |
{ | |
if( event.getKeyCode() && event.keyDown() ){ | |
std::cout << "Key : " << event.getKeyCode() << std::endl; | |
} | |
} | |
void mouse_callback( const pcl::visualization::MouseEvent& event, void* ) | |
{ | |
if( event.getType() == pcl::visualization::MouseEvent::MouseButtonPress && event.getButton() == pcl::visualization::MouseEvent::LeftButton ){ | |
std::cout << "Mouse : " << event.getX() << ", " << event.getY() << std::endl; | |
} | |
} | |
int _tmain( int argc, _TCHAR* argv[] ) | |
{ | |
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer( new pcl::visualization::PCLVisualizer( "Point Cloud Viewer" ) ); | |
viewer->registerKeyboardCallback( &keyboard_callback, "keyboard" ); | |
viewer->registerMouseCallback( &mouse_callback, "mouse" ); | |
pcl::PointCloud<PointType>::ConstPtr cloud; | |
boost::mutex mutex; | |
boost::function<void( const pcl::PointCloud<PointType>::ConstPtr& )> function = | |
[&cloud, &mutex]( const pcl::PointCloud<PointType>::ConstPtr &ptr ){ | |
boost::mutex::scoped_lock lock( mutex ); | |
cloud = ptr->makeShared(); | |
}; | |
boost::shared_ptr<pcl::Grabber> grabber = boost::make_shared<pcl::Kinect2Grabber>(); | |
boost::signals2::connection connection = grabber->registerCallback( function ); | |
grabber->start(); | |
while( !viewer->wasStopped() ){ | |
viewer->spinOnce(); | |
boost::mutex::scoped_try_lock lock( mutex ); | |
if( lock.owns_lock() && cloud ){ | |
if( !viewer->updatePointCloud( cloud, "cloud" ) ){ | |
viewer->addPointCloud( cloud, "cloud" ); | |
} | |
} | |
} | |
grabber->stop(); | |
if( connection.connected() ){ | |
connection.disconnect(); | |
} | |
return 0; | |
} |
Great Work, !!!
will this work in ubuntu?
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GOOD