PCL OpenNI2Grabber get Point Cloud without viewer - c++

Question

I have an Asus XTION camera. On my PC there is Windows 7 with Visual Studio 2013 installed. I also got PCL, openCV compiled for VS2013 and the openNi Driver is intalled. Now I want to get a Point Cloud from the Camera. With the sample I can view the actual frames and save one:
// Original code by Geoffrey Biggs, taken from the PCL tutorial in
// http://pointclouds.org/documentation/tutorials/pcl_visualizer.php
// Simple OpenNI viewer that also allows to write the current scene to a .pcd
// when pressing SPACE.
#define _CRT_SERCURE_NO_WARNINGS
#include <pcl/io/openni2_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/filters/passthrough.h>
#include <iostream>
using namespace std;
using namespace pcl;
PointCloud<PointXYZRGBA>::Ptr cloudptr(new PointCloud<PointXYZRGBA>); // A cloud that will store color info.
PointCloud<PointXYZ>::Ptr fallbackCloud(new PointCloud<PointXYZ>); // A fallback cloud with just depth data.
PointCloud<PointXYZRGBA>::Ptr filteredCloud(new PointCloud<PointXYZRGBA>);
boost::shared_ptr<visualization::CloudViewer> viewer; // Point cloud viewer object.
Grabber* openniGrabber; // OpenNI grabber that takes data from the device.
unsigned int filesSaved = 0; // For the numbering of the clouds saved to disk.
bool saveCloud(false), noColor(false); // Program control.
void
printUsage(const char* programName)
{
cout << "Usage: " << programName << " [options]"
<< endl
<< endl
<< "Options:\n"
<< endl
<< "\t<none> start capturing from an OpenNI device.\n"
<< "\t-v FILE visualize the given .pcd file.\n"
<< "\t-h shows this help.\n";
}
// This function is called every time the device has new data.
void
grabberCallback(const PointCloud<PointXYZRGBA>::ConstPtr& cloud)
{
if (!viewer->wasStopped())
viewer->showCloud(cloud);
if (saveCloud)
{
stringstream stream;
stream << "inputCloud" << filesSaved << ".pcd";
string filename = stream.str();
// Filter object.
PassThrough<pcl::PointXYZRGBA> filter;
filter.setInputCloud(cloud);
// Filter out all points with Z values not in the [0-2] range.
filter.setFilterFieldName("z");
filter.setFilterLimits(0.0, 1.5);
filter.filter(*filteredCloud);
if (io::savePCDFile(filename, *filteredCloud, true) == 0)
{
filesSaved++;
cout << "Saved " << filename << "." << endl;
}
else PCL_ERROR("Problem saving %s.\n", filename.c_str());
saveCloud = false;
}
}
// For detecting when SPACE is pressed.
void
keyboardEventOccurred(const visualization::KeyboardEvent& event,
void* nothing)
{
if (event.getKeySym() == "space" && event.keyDown())
saveCloud = true;
}
// Creates, initializes and returns a new viewer.
boost::shared_ptr<visualization::CloudViewer>
createViewer()
{
boost::shared_ptr<visualization::CloudViewer> v
(new visualization::CloudViewer("OpenNI viewer"));
v->registerKeyboardCallback(keyboardEventOccurred);
return (v);
}
int
main(int argc, char** argv)
{
if (console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return -1;
}
bool justVisualize(false);
string filename;
if (console::find_argument(argc, argv, "-v") >= 0)
{
if (argc != 3)
{
printUsage(argv[0]);
return -1;
}
filename = argv[2];
justVisualize = true;
}
else if (argc != 1)
{
printUsage(argv[0]);
return -1;
}
// First mode, open and show a cloud from disk.
if (justVisualize)
{
// Try with color information...
try
{
io::loadPCDFile<PointXYZRGBA>(filename.c_str(), *cloudptr);
}
catch (PCLException e1)
{
try
{
// ...and if it fails, fall back to just depth.
io::loadPCDFile<PointXYZ>(filename.c_str(), *fallbackCloud);
}
catch (PCLException e2)
{
return -1;
}
noColor = true;
}
cout << "Loaded " << filename << "." << endl;
if (noColor)
cout << "This cloud has no RGBA color information present." << endl;
else cout << "This cloud has RGBA color information present." << endl;
}
// Second mode, start fetching and displaying frames from the device.
else
{
openniGrabber = new pcl::io::OpenNI2Grabber();
if (openniGrabber == 0)
return -1;
boost::function<void(const PointCloud<PointXYZRGBA>::ConstPtr&)> f =
boost::bind(&grabberCallback, _1);
openniGrabber->registerCallback(f);
}
viewer = createViewer();
if (justVisualize)
{
if (noColor)
viewer->showCloud(fallbackCloud);
else viewer->showCloud(cloudptr);
}
else openniGrabber->start();
// Main loop.
while (!viewer->wasStopped())
boost::this_thread::sleep(boost::posix_time::seconds(1));
if (!justVisualize)
openniGrabber->stop();
}
But with this code I need the viewer. How can I get the Point Cloud without the viewer? It should work without kinect SDK, only with PCL, openni.

Answer 1

I solved the problem like this:
#include <pcl/io/openni2_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/parse.h>
#include <iostream>
using namespace std;
using namespace pcl;
int main(int argc, char** argv)
{
PointCloud<PointXYZRGBA>::Ptr sourceCloud(new PointCloud<PointXYZRGBA>);
boost::function<void(const PointCloud<PointXYZRGBA>::ConstPtr&)> function = [&sourceCloud](const PointCloud<PointXYZRGBA>::ConstPtr &cloud)
{
copyPointCloud(*cloud, *sourceCloud);
};
// Create Kinect2Grabber
Grabber* grabber = new io::OpenNI2Grabber();
// Regist Callback Function
grabber->registerCallback(function);
// Start Retrieve Data
grabber->start();
boost::this_thread::sleep(boost::posix_time::seconds(1));
// Stop Retrieve Data
grabber->stop();
cout << "The Cloud size: " << sourceCloud->size() << " points ..." << endl;
}