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Pcd recorder improvements #673

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merged 2 commits into from
May 16, 2014
Merged

Pcd recorder improvements #673

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0fc5ab8
openni_pcd_recorder: Add command-line support for device IDs (like in…
May 15, 2014
3d90a8d
openni_pcd_recorder: Improve calculation of default buffer size.
May 15, 2014
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115 changes: 100 additions & 15 deletions io/tools/openni_pcd_recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,10 +88,10 @@ getTotalSystemMemory ()
return memory;
}

const int BUFFER_SIZE = int (getTotalSystemMemory () / (640 * 480));
const size_t BUFFER_SIZE = size_t (getTotalSystemMemory () / (640 * 480 * sizeof (pcl::PointXYZRGBA)));
#else

const int BUFFER_SIZE = 200;
const size_t BUFFER_SIZE = 200;
#endif

//////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -143,7 +143,7 @@ class PCDBuffer

private:
PCDBuffer (const PCDBuffer&); // Disabled copy constructor
PCDBuffer& operator =(const PCDBuffer&); // Disabled assignment operator
PCDBuffer& operator = (const PCDBuffer&); // Disabled assignment operator

boost::mutex bmutex_;
boost::condition_variable buff_empty_;
Expand Down Expand Up @@ -336,23 +336,108 @@ ctrlC (int)
}

//////////////////////////////////////////////////////////////////////////////////////////
int
void
printHelp (int default_buff_size, int, char **argv)
{
using pcl::console::print_error;
using pcl::console::print_info;

print_error ("Syntax is: %s ((<device_id> | <path-to-oni-file>) [-xyz] [-shift] [-buf X] | -l [<device_id>] | -h | --help)]\n", argv [0]);
print_info ("%s -h | --help : shows this help\n", argv [0]);
print_info ("%s -xyz : save only XYZ data, even if the device is RGB capable\n", argv [0]);
print_info ("%s -shift : use OpenNI shift values rather than 12-bit depth\n", argv [0]);
print_info ("%s -buf X ; use a buffer size of X frames (default: ", argv [0]);
print_value ("%d", default_buff_size); print_info (")\n");
print_info ("%s -l : list all available devices\n", argv [0]);
print_info ("%s -l <device-id> :list all available modes for specified device\n", argv [0]);
print_info ("\t\t<device_id> may be \"#1\", \"#2\", ... for the first, second etc device in the list\n");
#ifndef _WIN32
print_info ("\t\t bus@address for the device connected to a specific usb-bus / address combination\n");
print_info ("\t\t <serial-number>\n");
#endif
print_info ("\n\nexamples:\n");
print_info ("%s \"#1\"\n", argv [0]);
print_info ("\t\t uses the first device.\n");
print_info ("%s \"./temp/test.oni\"\n", argv [0]);
print_info ("\t\t uses the oni-player device to play back oni file given by path.\n");
print_info ("%s -l\n", argv [0]);
print_info ("\t\t list all available devices.\n");
print_info ("%s -l \"#2\"\n", argv [0]);
print_info ("\t\t list all available modes for the second device.\n");
#ifndef _WIN32
print_info ("%s A00361800903049A\n", argv [0]);
print_info ("\t\t uses the device with the serial number \'A00361800903049A\'.\n");
print_info ("%s 1@16\n", argv [0]);
print_info ("\t\t uses the device on address 16 at USB bus 1.\n");
#endif
}

//////////////////////////////////////////////////////////////////////////////////////////
int
main (int argc, char** argv)
{
print_highlight ("PCL OpenNI Recorder for saving buffered PCD (binary compressed to disk). See %s -h for options.\n", argv[0]);

std::string device_id ("");
int buff_size = BUFFER_SIZE;
if (find_switch (argc, argv, "-h") || find_switch (argc, argv, "--help"))

if (argc >= 2)
{
print_info ("Options are: \n"
" -xyz = save only XYZ data, even if the device is RGB capable\n"
" -shift = use OpenNI shift values rather than 12-bit depth\n"
" -buf X = use a buffer size of X frames (default: ");
print_value ("%d", buff_size); print_info (")\n");
return (0);
}
device_id = argv[1];
if (device_id == "--help" || device_id == "-h")
{
printHelp (buff_size, argc, argv);
return 0;
}
else if (device_id == "-l")
{
if (argc >= 3)
{
pcl::OpenNIGrabber grabber (argv[2]);
boost::shared_ptr<openni_wrapper::OpenNIDevice> device = grabber.getDevice ();
cout << "Supported depth modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
std::vector<std::pair<int, XnMapOutputMode > > modes = grabber.getAvailableDepthModes ();
for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
{
cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
}

if (device->hasImageStream ())
{
cout << endl << "Supported image modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
modes = grabber.getAvailableImageModes ();
for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
{
cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
}
}
}
else
{
openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
if (driver.getNumberDevices() > 0)
{
for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices (); ++deviceIdx)
{
cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
<< ", connected: " << driver.getBus(deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << endl;
}

}
else
cout << "No devices connected." << endl;

cout <<"Virtual Devices available: ONI player" << endl;
}
return 0;
}
}
else
{
openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
if (driver.getNumberDevices () > 0)
cout << "Device Id not set, using first device." << endl;
}

bool just_xyz = find_switch (argc, argv, "-xyz");
openni_wrapper::OpenNIDevice::DepthMode depth_mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth;
Expand All @@ -364,9 +449,9 @@ main (int argc, char** argv)
else
print_highlight ("Using default buffer size of %d frames.\n", buff_size);

print_highlight ("Starting the producer and consumer threads... Press Cltr+C to end\n");
print_highlight ("Starting the producer and consumer threads... Press Ctrl+C to end\n");

OpenNIGrabber grabber ("");
OpenNIGrabber grabber (device_id);
if (grabber.providesCallback<OpenNIGrabber::sig_cb_openni_point_cloud_rgba> () &&
!just_xyz)
{
Expand Down