ensenso_viewer.cpp

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
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 *  Author: Victor Lamoine (victor.lamoine@gmail.com)
 */

#include <chrono>
#include <iostream>
#include <thread>

#include <pcl/io/ensenso_grabber.h>
#include <pcl/visualization/cloud_viewer.h>

using namespace std::chrono_literals;

/** @brief Convenience typedef */
using CloudViewer = pcl::visualization::CloudViewer;

/** @brief Convenience typedef for XYZ point clouds */
using PointCloudXYZ = pcl::PointCloud<pcl::PointXYZ>;

/** @brief CloudViewer pointer */
CloudViewer::Ptr viewer_ptr;

/** @brief PCL Ensenso object pointer */
pcl::EnsensoGrabber::Ptr ensenso_ptr;

/** @brief Process and/or display Ensenso grabber clouds
 * @param[in] cloud Ensenso cloud */
void
grabberCallback (const PointCloudXYZ::Ptr& cloud)
{
  if (!viewer_ptr->wasStopped ())
    viewer_ptr->showCloud (cloud);
}

/** @brief Main function
 * @return Exit status */
int
main (void)
{
  viewer_ptr.reset (new CloudViewer ("Ensenso 3D cloud viewer"));
  ensenso_ptr.reset (new pcl::EnsensoGrabber);
  ensenso_ptr->openTcpPort ();
  ensenso_ptr->openDevice ();

  std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
  ensenso_ptr->registerCallback (f);
  ensenso_ptr->start ();

  while (!viewer_ptr->wasStopped ())
  {
    std::this_thread::sleep_for(1s);
    std::cout << "FPS: " << ensenso_ptr->getFramesPerSecond () << std::endl;
  }

  ensenso_ptr->closeDevice ();
  return (0);
}