Merge remote-tracking branch 'upstream/master'

apps/CMakeLists.txt

@@ -78,7 +78,7 @@ if(build)
     PCL_ADD_EXECUTABLE(pcl_face_trainer ${SUBSYS_NAME} src/face_detection/face_trainer.cpp)
     target_link_libraries(pcl_face_trainer pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree vtkRendering vtkIO)
 
-    PCL_ADD_EXECUTABLE(pcl_fs_face_detector ${SUBSYS_NAME} src/face_detection//filesystem_face_detection.cpp)
+    PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_fs_face_detector ${SUBSYS_NAME} src/face_detection//filesystem_face_detection.cpp)
     target_link_libraries(pcl_fs_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree vtkRendering vtkIO)
 
     PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation ${SUBSYS_NAME} src/stereo_ground_segmentation.cpp)
@@ -162,6 +162,11 @@ if(build)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_manual_registration ${SUBSYS_NAME} ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp)
         target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
 
+        QT4_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
+        QT4_WRAP_CPP(pcd_video_player_moc include/pcl/apps/pcd_video_player.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)
+        PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_pcd_video_player ${SUBSYS_NAME} ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp)
+        target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+
         # Database processing (integration) demo
 #        QT4_WRAP_UI(db_proc_ui src/db_proc/db_proc.ui)
 #        QT4_WRAP_CPP(db_proc_moc include/pcl/apps/db_proc.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)

apps/include/pcl/apps/pcd_video_player.h

@@ -0,0 +1,166 @@
+/*
+ * Software License Agreement (BSD License)
+ * 
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, 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.
+ */
+
+#include <ui_pcd_video_player.h>
+
+#include <iostream>
+#include <time.h>
+
+// QT4
+#include <QMainWindow>
+#include <QMutex>
+#include <QTimer>
+
+// Boost
+#include <boost/thread/thread.hpp>
+#include <boost/filesystem.hpp>
+
+// PCL
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+
+#include <pcl/common/common.h>
+#include <pcl/common/angles.h>
+#include <pcl/common/time.h>
+#include <pcl/common/transforms.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+#include <pcl/io/pcd_grabber.h>
+#include <pcl/io/pcd_io.h>
+
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/visualization/point_cloud_handlers.h>
+
+#include <pcl/registration/transformation_estimation_svd.h>
+
+#define CURRENT_VERSION 0.2
+
+// Useful macros
+#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)
+
+namespace Ui
+{
+  class MainWindow;
+}
+
+class PCDVideoPlayer : public QMainWindow
+{
+  Q_OBJECT
+  public:
+    typedef pcl::PointCloud<pcl::PointXYZRGBA> Cloud;
+    typedef Cloud::Ptr CloudPtr;
+    typedef Cloud::ConstPtr CloudConstPtr;
+
+    PCDVideoPlayer ();
+
+    ~PCDVideoPlayer () {}
+
+  protected:
+    boost::shared_ptr<pcl::visualization::PCLVisualizer> vis_;
+    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_;
+
+    QMutex mtx_;
+    QMutex vis_mtx_;
+    Ui::MainWindow *ui_;
+    QTimer *vis_timer_;
+
+    QString dir_;
+
+    std::vector<std::string> pcd_files_;
+    std::vector<boost::filesystem::path> pcd_paths_;
+
+
+    /** \brief The current displayed frame */
+    unsigned int current_frame_;
+    /** \brief Store the number of loaded frames */
+    unsigned int nr_of_frames_;
+
+    /** \brief Indicate that pointclouds were loaded */
+    bool cloud_present_;
+    /** \brief Indicate that the timeoutSlot needs to reload the pointcloud */
+    bool cloud_modified_;
+
+    /** \brief Indicate that files should play continiously */
+    bool play_mode_;
+    /** \brief In play mode only update if speed_counter_ == speed_value */
+    unsigned int speed_counter_;
+    /** \brief Fixes the speed in steps of 5ms, default 5, gives 5+1 * 5ms = 30ms = 33,3 Hz playback speed */
+    unsigned int speed_value_;
+
+  public slots:
+    void 
+    playButtonPressed ()
+    { play_mode_ = true; }
+
+    void 
+    stopButtonPressed()
+    { play_mode_ = false; }
+
+    void
+    backButtonPressed ();
+
+    void
+    nextButtonPressed ();
+
+    void
+    selectFolderButtonPressed ();
+
+    void
+    selectFilesButtonPressed ();
+
+    void
+    indexSliderValueChanged (int value);
+
+  private slots:
+    void
+    timeoutSlot ();
+
+};

apps/src/openni_organized_edge_detection.cpp

@@ -203,7 +203,7 @@ class OpenNIOrganizedEdgeDetection
           // Make gray point cloud
           for (size_t idx = 0; idx < cloud_.points.size (); idx++)
           {
-            uint8_t gray = uint8_t((cloud_.points[idx].r + cloud_.points[idx].g + cloud_.points[idx].b)/3);
+            pcl::uint8_t gray = pcl::uint8_t((cloud_.points[idx].r + cloud_.points[idx].g + cloud_.points[idx].b)/3);
             cloud_.points[idx].r = cloud_.points[idx].g = cloud_.points[idx].b = gray;
           }
 

apps/src/openni_tracking.cpp

@@ -503,7 +503,7 @@ class OpenNISegmentTracking
         result.points.push_back(point);
     }
 
-    result.width = static_cast<uint32_t> (result.points.size ());
+    result.width = static_cast<pcl::uint32_t> (result.points.size ());
     result.height = 1;
     result.is_dense = true;
   }
@@ -519,7 +519,7 @@ class OpenNISegmentTracking
       PointType point = cloud->points[segmented_indices.indices[i]];
       result.points.push_back (point);
     }
-    result.width = uint32_t (result.points.size ());
+    result.width = pcl::uint32_t (result.points.size ());
     result.height = 1;
     result.is_dense = true;
   }