39 #include <pcl/pcl_config.h> 41 #ifndef __PCL_IO_DAVIDSDK_GRABBER__ 42 #define __PCL_IO_DAVIDSDK_GRABBER__ 45 #include <pcl/common/io.h> 46 #include <boost/thread.hpp> 47 #include <pcl/PolygonMesh.h> 48 #include <pcl/io/grabber.h> 70 typedef boost::shared_ptr<DavidSDKGrabber> Ptr;
71 typedef boost::shared_ptr<const DavidSDKGrabber> ConstPtr;
81 (sig_cb_davidsdk_image) (
const boost::shared_ptr<pcl::PCLImage> &);
85 const boost::shared_ptr<pcl::PCLImage> &);
89 const boost::shared_ptr<pcl::PCLImage> &);
104 connect (
const std::string & address =
"127.0.0.1",
105 uint16_t port = david::DAVID_SDK_DefaultPort);
110 disconnect (
const bool stop_server);
128 isConnected ()
const;
147 setFileFormatToOBJ ();
152 setFileFormatToPLY ();
156 setFileFormatToSTL ();
168 setLocalPath (std::string path);
175 setRemotePath (std::string path);
183 setLocalAndRemotePaths (std::string local_path,
184 std::string remote_path);
197 calibrate (
double grid_size);
215 getFramesPerSecond ()
const;
269 #endif // __PCL_IO_DAVIDSDK_GRABBER__ boost::signals2::signal< sig_cb_davidsdk_point_cloud > * point_cloud_signal_
Boost point cloud signal.
boost::mutex fps_mutex_
Mutual exclusion for FPS computation.
boost::signals2::signal< sig_cb_davidsdk_image > * image_signal_
Boost image signal.
pcl::EventFrequency frequency_
processGrabbing capture/processing frequency
david::Client david_
davidSDK client
This file defines compatibility wrappers for low level I/O functions.
A helper class to measure frequency of a certain event.
Grabber interface for PCL 1.x device drivers.
boost::signals2::signal< sig_cb_davidsdk_point_cloud_image > * point_cloud_image_signal_
Boost image + point cloud signal.
boost::shared_ptr< PointCloud< PointT > > Ptr
Grabber for davidSDK structured light compliant devices.
boost::shared_ptr< ::pcl::PolygonMesh > Ptr
boost::signals2::signal< sig_cb_davidsdk_mesh > * mesh_signal_
Boost mesh signal.
std::string file_format_
Export file extension, available formats are STL, OBJ, PLY.
PointCloud represents the base class in PCL for storing collections of 3D points.
bool running_
Whether an davidSDK device is running or not.
boost::signals2::signal< sig_cb_davidsdk_mesh_image > * mesh_image_signal_
Boost mesh + image signal.
boost::thread grabber_thread_
Grabber thread.
bool client_connected_
Whether the client is connected.
std::string local_path_
Local path of directory where the scanning file will be located.
Define methods for measuring time spent in code blocks.
std::string remote_path_
Remote path of directory where the scanning file will be located.