Pcl1.14从相机在线读取点云

朱永博

已于 2024-04-19 16:20:50 修改

阅读量138

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文章标签： c++ 3d

于 2024-04-17 08:57:01 首次发布

本文链接：https://blog.csdn.net/qq_49595983/article/details/137855096

版权

#define WIN32_LEAN_AND_MEAN
#include <iostream>
#include <string>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/tim_grabber.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread.hpp>
#include <boost/lexical_cast.hpp>
using namespace std;
typedef pcl::PointXYZ PointType;
int main(int argc, char* argv[])
{
    pcl::PointCloud<PointType>::ConstPtr cloud;
    string ipaddress("192.168.0.1");
    string port("2112");
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Sick Tim Viewer"));
    viewer->addCoordinateSystem(1.0, "coordinate");
    viewer->setBackgroundColor(0.0, 0.0, 0.0, 0);
    viewer->initCameraParameters();
    viewer->setCameraPosition(0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0);
    boost::mutex mutex;
    function<void(const pcl::PointCloud<PointType>::ConstPtr&)> callback_function =
        [&cloud, &mutex](const pcl::PointCloud<PointType>::ConstPtr& ptr) {
        boost::mutex::scoped_lock lock(mutex);
        cloud = ptr;
    };
    boost::shared_ptr<pcl::TimGrabber> grabber;
    if (!ipaddress.empty() && !port.empty()) {
        grabber = boost::shared_ptr<pcl::TimGrabber>(
            new pcl::TimGrabber(
                boost::asio::ip::address::from_string(ipaddress),
                boost::lexical_cast<unsigned short>(port)));
    }
    else {
        return 1;
    }
    boost::signals2::connection connection = grabber->registerCallback(callback_function);
    grabber->start();
    while (!viewer->wasStopped()) {
        viewer->spinOnce();
        boost::mutex::scoped_try_lock lock(mutex);
        if (lock.owns_lock() && cloud) {
            if (!viewer->updatePointCloud(cloud, "cloud")) {
                viewer->addPointCloud(cloud, "cloud");
            }
        }
    }
    grabber->stop();
    if (connection.connected()) {
        connection.disconnect();
    }
    return 0;
}