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openni_save_image.cpp
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306 lines (275 loc) · 11.2 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* 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 the copyright holder(s) 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;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* 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.
*
*/
#include <pcl/common/time.h> //fps calculations
#include <pcl/io/timestamp.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/console/parse.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vtkSmartPointer.h>
#include <vtkImageImport.h>
#include <vtkTIFFWriter.h>
#include <vtkImageFlip.h>
#include <chrono>
#include <mutex>
#include <string>
#include <vector>
#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
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer (pcl::OpenNIGrabber& grabber)
: grabber_ (grabber)
, importer_ (vtkSmartPointer<vtkImageImport>::New ())
, depth_importer_ (vtkSmartPointer<vtkImageImport>::New ())
, writer_ (vtkSmartPointer<vtkTIFFWriter>::New ())
, flipper_ (vtkSmartPointer<vtkImageFlip>::New ())
{
importer_->SetNumberOfScalarComponents (3);
importer_->SetDataScalarTypeToUnsignedChar ();
depth_importer_->SetNumberOfScalarComponents (1);
depth_importer_->SetDataScalarTypeToUnsignedShort ();
writer_->SetCompressionToPackBits ();
flipper_->SetFilteredAxes (1);
}
void
image_callback (const openni_wrapper::Image::Ptr &image,
const openni_wrapper::DepthImage::Ptr &depth_image, float)
{
FPS_CALC ("image callback");
std::lock_guard<std::mutex> lock (image_mutex_);
image_ = image;
depth_image_ = depth_image;
}
void
run ()
{
std::function<
void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float)
> image_cb = [this] (const openni_wrapper::Image::Ptr& img, const openni_wrapper::DepthImage::Ptr& depth, float f)
{
image_callback (img, depth, f);
};
boost::signals2::connection image_connection = grabber_.registerCallback (image_cb);
grabber_.start ();
unsigned char* rgb_data = nullptr;
unsigned rgb_data_size = 0;
const void* data;
while (true)
{
std::lock_guard<std::mutex> lock (image_mutex_);
const auto timestamp = pcl::getTimestamp();
if (image_)
{
FPS_CALC ("writer callback");
openni_wrapper::Image::Ptr image;
image.swap (image_);
if (image->getEncoding() == openni_wrapper::Image::RGB)
{
data = reinterpret_cast<const void*> (image->getMetaData ().Data ());
importer_->SetWholeExtent (0, image->getWidth () - 1, 0, image->getHeight () - 1, 0, 0);
importer_->SetDataExtentToWholeExtent ();
}
else
{
if (rgb_data_size < image->getWidth () * image->getHeight ())
{
rgb_data_size = image->getWidth () * image->getHeight ();
rgb_data = new unsigned char [rgb_data_size * 3];
importer_->SetWholeExtent (0, image->getWidth () - 1, 0, image->getHeight () - 1, 0, 0);
importer_->SetDataExtentToWholeExtent ();
}
image->fillRGB (image->getWidth (), image->getHeight (), rgb_data);
data = reinterpret_cast<const void*> (rgb_data);
}
const std::string filename = "frame_" + timestamp + "_rgb.tiff";
importer_->SetImportVoidPointer (const_cast<void*>(data), 1);
importer_->Update ();
flipper_->SetInputConnection (importer_->GetOutputPort ());
flipper_->Update ();
writer_->SetFileName (filename.c_str ());
writer_->SetInputConnection (flipper_->GetOutputPort ());
writer_->Write ();
}
if (depth_image_)
{
openni_wrapper::DepthImage::Ptr depth_image;
depth_image.swap (depth_image_);
const std::string filename = "frame_" + timestamp + "_depth.tiff";
depth_importer_->SetWholeExtent (0, depth_image->getWidth () - 1, 0, depth_image->getHeight () - 1, 0, 0);
depth_importer_->SetDataExtentToWholeExtent ();
depth_importer_->SetImportVoidPointer (const_cast<void*> (reinterpret_cast<const void*> (depth_image->getDepthMetaData ().Data ())), 1);
depth_importer_->Update ();
flipper_->SetInputConnection (depth_importer_->GetOutputPort ());
flipper_->Update ();
writer_->SetFileName (filename.c_str ());
writer_->SetInputConnection (flipper_->GetOutputPort ());
writer_->Write ();
}
}
grabber_.stop ();
image_connection.disconnect ();
delete[] rgb_data;
}
pcl::OpenNIGrabber& grabber_;
std::mutex image_mutex_;
openni_wrapper::Image::Ptr image_;
openni_wrapper::DepthImage::Ptr depth_image_;
vtkSmartPointer<vtkImageImport> importer_, depth_importer_;
vtkSmartPointer<vtkTIFFWriter> writer_;
vtkSmartPointer<vtkImageFlip> flipper_;
};
void
usage (char ** argv)
{
std::cout << "usage: " << argv[0] << " [((<device_id> | <path-to-oni-file>) [-imagemode <mode>] | -l [<device_id>]| -h | --help)]" << std::endl;
std::cout << argv[0] << " -h | --help : shows this help" << std::endl;
std::cout << argv[0] << " -l : list all available devices" << std::endl;
std::cout << argv[0] << " -l <device-id> : list all available modes for specified device" << std::endl;
std::cout << " device_id may be #1, #2, ... for the first, second etc device in the list"
#ifndef _WIN32
<< " or" << std::endl
<< " bus@address for the device connected to a specific usb-bus / address combination or" << std::endl
<< " <serial-number>"
#endif
<< std::endl;
std::cout << std::endl;
std::cout << "examples:" << std::endl;
std::cout << argv[0] << " \"#1\"" << std::endl;
std::cout << " uses the first device." << std::endl;
std::cout << argv[0] << " \"./temp/test.oni\"" << std::endl;
std::cout << " uses the oni-player device to play back oni file given by path." << std::endl;
std::cout << argv[0] << " -l" << std::endl;
std::cout << " lists all available devices." << std::endl;
std::cout << argv[0] << " -l \"#2\"" << std::endl;
std::cout << " lists all available modes for the second device" << std::endl;
#ifndef _WIN32
std::cout << argv[0] << " A00361800903049A" << std::endl;
std::cout << " uses the device with the serial number \'A00361800903049A\'." << std::endl;
std::cout << argv[0] << " 1@16" << std::endl;
std::cout << " uses the device on address 16 at USB bus 1." << std::endl;
#endif
return;
}
int
main(int argc, char ** argv)
{
std::string device_id;
pcl::OpenNIGrabber::Mode image_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
pcl::OpenNIGrabber::Mode depth_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
if (argc >= 2)
{
device_id = argv[1];
if (device_id == "--help" || device_id == "-h")
{
usage(argv);
return 0;
}
if (device_id == "-l")
{
if (argc >= 3)
{
pcl::OpenNIGrabber grabber (argv[2]);
openni_wrapper::OpenNIDevice::Ptr device = grabber.getDevice ();
std::vector<std::pair<int, XnMapOutputMode> > modes;
if (device->hasImageStream ())
{
std::cout << std::endl << "Supported image modes for device: " << device->getVendorName () << " , " << device->getProductName () << std::endl;
modes = grabber.getAvailableImageModes ();
for (const auto& mode : modes)
{
std::cout << mode.first << " = " << mode.second.nXRes << " x " << mode.second.nYRes << " @ " << mode.second.nFPS << std::endl;
}
}
}
else
{
openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
if (driver.getNumberDevices () > 0)
{
for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices (); ++deviceIdx)
{
std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
<< ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
}
}
else
std::cout << "No devices connected." << std::endl;
std::cout <<"Virtual Devices available: ONI player" << std::endl;
}
return (0);
}
}
else
{
openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
if (driver.getNumberDevices () > 0)
std::cout << "Device Id not set, using first device." << std::endl;
}
unsigned imagemode;
if (pcl::console::parse (argc, argv, "-imagemode", imagemode) != -1)
image_mode = static_cast<pcl::OpenNIGrabber::Mode>(imagemode);
unsigned depthmode;
if (pcl::console::parse (argc, argv, "-depthmode", depthmode) != -1)
depth_mode = static_cast<pcl::OpenNIGrabber::Mode>(depthmode);
pcl::OpenNIGrabber grabber (device_id, depth_mode, image_mode);
SimpleOpenNIViewer v (grabber);
v.run ();
return (0);
}