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Fix opennigrabber #1096

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merged 4 commits into from
Feb 21, 2017
Merged

Fix opennigrabber #1096

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de26413
set true to is_dense
fkanehiro Feb 21, 2017
f5a7a49
set timestamps to output data
fkanehiro Feb 21, 2017
372a38a
enable to change execution period
fkanehiro Feb 21, 2017
3a43895
flip Y and Z coordinates
fkanehiro Feb 21, 2017
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31 changes: 22 additions & 9 deletions rtc/OpenNIGrabber/OpenNIGrabber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ OpenNIGrabber::OpenNIGrabber(RTC::Manager* manager)
m_imageOut("image", m_image),
// </rtc-template>
m_interface(NULL),
m_requestToWrite(false),
dummy(0)
{
}
Expand Down Expand Up @@ -86,6 +87,11 @@ RTC::ReturnCode_t OpenNIGrabber::onInitialize()

void OpenNIGrabber::grabberCallbackDepthAndColor(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
{
if (!m_requestToWrite) return;

setTimestamp(m_cloud);
setTimestamp(m_image);

m_cloud.width = cloud->width;
m_cloud.height = cloud->height;
m_cloud.row_step = m_cloud.point_step*m_cloud.width;
Expand All @@ -99,10 +105,10 @@ void OpenNIGrabber::grabberCallbackDepthAndColor(const pcl::PointCloud<pcl::Poin
float *dst_cloud = (float *)m_cloud.data.get_buffer();
unsigned char *dst_image = (unsigned char*)m_image.data.image.raw_data.get_buffer();
for (unsigned int i=0; i<cloud->points.size(); i++){
dst_cloud[0] = cloud->points[i].x;
dst_cloud[1] = cloud->points[i].y;
dst_cloud[2] = cloud->points[i].z;
dst_cloud[3] = cloud->points[i].rgb;
dst_cloud[0] = cloud->points[i].x;
dst_cloud[1] = -cloud->points[i].y;
dst_cloud[2] = -cloud->points[i].z;
dst_cloud[3] = cloud->points[i].rgb;
dst_cloud += 4;

dst_image[0] = cloud->points[i].r;
Expand All @@ -112,23 +118,28 @@ void OpenNIGrabber::grabberCallbackDepthAndColor(const pcl::PointCloud<pcl::Poin
}
m_cloudOut.write();
m_imageOut.write();
m_requestToWrite = false;
}

void OpenNIGrabber::grabberCallbackDepth(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
{
if (!m_requestToWrite) return;

setTimestamp(m_cloud);
m_cloud.width = cloud->width;
m_cloud.height = cloud->height;
m_cloud.row_step = m_cloud.point_step*m_cloud.width;
m_cloud.data.length(m_cloud.height*m_cloud.row_step);

float *dst_cloud = (float *)m_cloud.data.get_buffer();
for (unsigned int i=0; i<cloud->points.size(); i++){
dst_cloud[0] = cloud->points[i].x;
dst_cloud[1] = cloud->points[i].y;
dst_cloud[2] = cloud->points[i].z;
dst_cloud[0] = cloud->points[i].x;
dst_cloud[1] = -cloud->points[i].y;
dst_cloud[2] = -cloud->points[i].z;
dst_cloud += 4;
}
m_cloudOut.write();
m_requestToWrite = false;
}

/*
Expand Down Expand Up @@ -176,7 +187,7 @@ RTC::ReturnCode_t OpenNIGrabber::onActivated(RTC::UniqueId ec_id)
m_cloud.fields[2].count = 4;
m_cloud.is_bigendian = false;
m_cloud.point_step = 16;
m_cloud.is_dense = false;
m_cloud.is_dense = true;
boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f = boost::bind(&OpenNIGrabber::grabberCallbackDepth, this, _1);
m_interface->registerCallback(f);
}else if(m_mode == "depth_and_color"){
Expand Down Expand Up @@ -208,7 +219,7 @@ RTC::ReturnCode_t OpenNIGrabber::onActivated(RTC::UniqueId ec_id)
m_cloud.fields[5].count = 1;
m_cloud.is_bigendian = false;
m_cloud.point_step = 16;
m_cloud.is_dense = false;
m_cloud.is_dense = true;
boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = boost::bind(&OpenNIGrabber::grabberCallbackDepthAndColor, this, _1);
m_interface->registerCallback(f);
}else{
Expand Down Expand Up @@ -255,6 +266,8 @@ RTC::ReturnCode_t OpenNIGrabber::onExecute(RTC::UniqueId ec_id)
<< "] grabber is not running" << std::endl;
}
}
m_requestToWrite = true;

return RTC::RTC_OK;
}

Expand Down
1 change: 1 addition & 0 deletions rtc/OpenNIGrabber/OpenNIGrabber.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ class OpenNIGrabber
pcl::Grabber *m_interface;
int m_debugLevel;
std::string m_mode;
bool m_requestToWrite;
int dummy;
};

Expand Down