Add davidSDK viewer

visualization/CMakeLists.txt

@@ -14,7 +14,7 @@ else(NOT VTK_FOUND)
 endif(NOT VTK_FOUND)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
-PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso davidSDK)
 
 if (ANDROID)
   set (build FALSE)
@@ -162,6 +162,9 @@ if(build)
 	if(ENSENSO_FOUND)
       list(APPEND EXT_DEPS ensenso)
     endif(ENSENSO_FOUND)
+	if(DAVIDSDK_FOUND)
+      list(APPEND EXT_DEPS davidSDK)
+    endif(DAVIDSDK_FOUND)
     PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
       "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
 

visualization/tools/CMakeLists.txt

@@ -43,3 +43,8 @@ if(ENSENSO_FOUND AND BUILD_ENSENSO)
     PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ensenso_viewer ${SUBSYS_NAME} ensenso_viewer.cpp)
     target_link_libraries(pcl_ensenso_viewer pcl_common pcl_io pcl_visualization)
 endif()
+
+if(DAVIDSDK_FOUND AND BUILD_DAVIDSDK)
+    PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_davidsdk_viewer ${SUBSYS_NAME} davidsdk_viewer.cpp)
+    target_link_libraries(pcl_davidsdk_viewer pcl_common pcl_io pcl_visualization)
+endif()

visualization/tools/davidsdk_viewer.cpp

@@ -0,0 +1,108 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2014-, Open Perception, 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.
+ *
+ *  Author: Victor Lamoine (victor.lamoine@gmail.com)
+ */
+
+#include <iostream>
+#include <pcl/io/davidsdk_grabber.h>
+#include <pcl/visualization/cloud_viewer.h>
+
+/** @brief Convenience typedef */
+typedef pcl::visualization::CloudViewer CloudViewer;
+
+/** @brief Convenience typedef for XYZ point clouds */
+typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
+
+/** @brief CloudViewer pointer */
+boost::shared_ptr<CloudViewer> viewer_ptr;
+
+/** @brief PCL DavidSDK object pointer */
+pcl::DavidSDKGrabber::Ptr davidsdk_ptr;
+
+/** @brief Process and/or display DavidSDK grabber clouds
+ * @param[in] cloud DavidSDK cloud */
+void
+grabberCallback (const PointCloudXYZ::Ptr& cloud)
+{
+  if (!viewer_ptr->wasStopped ())
+    viewer_ptr->showCloud (cloud);
+}
+
+/** @brief Main function
+ * @param[in] argc
+ * @param[in] argv
+ * @return Exit status */
+int
+main (int argc,
+      char *argv[])
+{
+  if (argc != 2)
+  {
+    PCL_ERROR ("Usage:\n%s 192.168.100.65\n", argv[0]);
+    return (-1);
+  }
+
+  viewer_ptr.reset (new CloudViewer ("davidSDK 3D cloud viewer"));
+  davidsdk_ptr.reset (new pcl::DavidSDKGrabber);
+  davidsdk_ptr->connect (argv[1]);
+
+  if (!davidsdk_ptr->isConnected ())
+    return (-1);
+  PCL_WARN ("davidSDK connected\n");
+
+#ifndef _WIN32// || _WIN64
+  PCL_WARN ("Linux / Mac OSX detected, setting local_path_ to /var/tmp/davidsdk/ and remote_path_ to \\\\m6700\\davidsdk\\\n");
+  davidsdk_ptr->setLocalAndRemotePaths ("/var/tmp/davidsdk/", "\\\\m6700\\davidsdk\\");
+#endif
+
+  //davidsdk_ptr->setFileFormatToPLY();
+  std::cout << "Using " << davidsdk_ptr->getFileFormat () << " file format" << std::endl;
+
+  boost::function<void
+  (const PointCloudXYZ::Ptr&)> f = boost::bind (&grabberCallback, _1);
+  davidsdk_ptr->registerCallback (f);
+  davidsdk_ptr->start ();
+
+  while (!viewer_ptr->wasStopped ())
+  {
+    boost::this_thread::sleep (boost::posix_time::seconds (20));
+    std::cout << "FPS: " << davidsdk_ptr->getFramesPerSecond () << std::endl;
+  }
+
+  davidsdk_ptr->stop ();
+  return (0);
+}
+