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<!-- HTML header for doxygen 1.8.6-->
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Created by sarkar on 19.06.15.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> </div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#ifndef OPENDETECTION_ODFRAMEGENERATOR_H</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor"></span><span class="preprocessor">#define OPENDETECTION_ODFRAMEGENERATOR_H</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "common/pipeline/ODDetection.h"</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "common/pipeline/ODScene.h"</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <opencv2/videoio.hpp></span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <pcl/apps/3d_rec_framework/tools/openni_frame_source.h></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span>od</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">enum</span> GeneratorType</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  GENERATOR_TYPE_FILE_LIST, GENERATOR_TYPE_DEVICE</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  };</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"></span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> /** \brief The FrameGenerator class for capturing and reading Scenes conveniently.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * Templated with two parameters - SceneType identifying a Scene class, and TYPE identifying the type of input. After the instantiation with a correct TYPE, use the function</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * getNextFrame() to get an instance of next scene of SceneType. getNextFrame() returns valid scenes until all scenes matched are exhausted - the time when 'isValid()' is false.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * \tparam SceneT One of the Scene classes - ODSceneImage or ODScenePointCloud</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * \tparam TYPE TYPE can be GENERATOR_TYPE_FILE_LIST which means you provide the list of scene files to be returned by the FrameGenerator in the constructor (for eg. \/home/username/pics/*.jpg)</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * Or it can be GENERATOR_TYPE_DEVICE which picks up the webcam or the kinect based on the SceneType.</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">template</span><<span class="keyword">typename</span> SceneT, GeneratorType TYPE></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">class </span>ODFrameGenerator</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  ODFrameGenerator(std::string input = <span class="stringliteral">""</span>);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  ODFrameGenerator(<span class="keywordtype">int</span> input = 0){}</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  SceneT * getNextFrame();</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">bool</span> isValid();</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">int</span> cameraID_;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  std::vector<std::string> file_list_;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  std::string video_read_path_;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">int</span> curr_image_;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  cv::VideoCapture inputCapture_;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">bool</span> exhausted_;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  };</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">template</span><<span class="keyword">typename</span> SceneT></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">class </span>ODFrameGenerator<SceneT, GENERATOR_TYPE_FILE_LIST></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  ODFrameGenerator(std::string <span class="keyword">const</span> input = <span class="stringliteral">""</span>)</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  file_list_ = <a class="code" href="namespaceod.html#a44058895e134b19a728118c2ac349411">myglob</a>(input);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  curr_image_ = -1;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  exhausted_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  SceneT * getNextFrame()</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">if</span> (exhausted_)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  cout << <span class="stringliteral">"Files Exhausted!"</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  curr_image_++;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span>(curr_image_ == file_list_.size() - 1)</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  exhausted_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  cout << <span class="stringliteral">"Frame: "</span> << file_list_[curr_image_] << endl;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> SceneT(file_list_[curr_image_]);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">bool</span> isValid() {<span class="keywordflow">return</span> !exhausted_;}</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  std::string currentFile()</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">return</span> file_list_[curr_image_];</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  std::vector<std::string> file_list_;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">bool</span> exhausted_;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">int</span> curr_image_;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  };</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">template</span><></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">class </span>ODFrameGenerator<ODSceneImage, GENERATOR_TYPE_DEVICE></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  ODFrameGenerator(std::string input = <span class="stringliteral">""</span>)</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  input_capture_.open(input);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> (!input_capture_.isOpened()) { cout << <span class="stringliteral">"FATAL: Cannot open video capture!"</span>;}</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  ODFrameGenerator(<span class="keywordtype">int</span> input = 0)</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  input_capture_.open(input);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (!input_capture_.isOpened()) { cout << <span class="stringliteral">"FATAL: Cannot open video capture!"</span>;}</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ODSceneImage * getNextFrame()</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  cv::Mat frame; input_capture_.read(frame);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> ODSceneImage(frame);</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">bool</span> isValid() {<span class="keywordflow">return</span> input_capture_.isOpened();}</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  cv::VideoCapture input_capture_;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  };</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">/*</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> template<></span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> class ODFrameGenerator<ODScenePointCloud<pcl::PointXYZRGBA> , GENERATOR_TYPE_DEVICE></span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> public:</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"></span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"></span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> ODFrameGenerator(std::string input = "")</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"></span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> camera_ = new OpenNIFrameSource::OpenNIFrameSource(input);</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, camera_, _1);</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"></span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> boost::function<void(pcl::visualization::KeyboardEvent const &)> const &getKeyboard_cb() const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> return keyboard_cb;</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"></span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> ODScenePointCloud<pcl::PointXYZRGBA> * getNextFrame()</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> OpenNIFrameSource::PointCloudPtr frame = camera_->snap();</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"></span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> return new ODScenePointCloud<pcl::PointXYZRGBA>(frame);</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> bool isValid() {return camera_->isActive();}</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"></span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> OpenNIFrameSource::OpenNIFrameSource *camera_;</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> boost::function<void (const pcl::visualization::KeyboardEvent&)> keyboard_cb;</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> };</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keyword">template</span><></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keyword">class </span>ODFrameGenerator<ODScenePointCloud<pcl::PointXYZRGBA> , GENERATOR_TYPE_DEVICE></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  {</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keyword">typedef</span> pcl::PointXYZRGBA PointT;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">typedef</span> pcl::PointCloud<PointT> PointCloud;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">typedef</span> pcl::PointCloud<PointT>::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">typedef</span> pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="comment">/* A simple class for capturing data from an OpenNI camera */</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  ODFrameGenerator(std::string input = <span class="stringliteral">""</span>) : grabber_(input), most_recent_frame_(), frame_counter_(0), active_(true)</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  boost::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&ODFrameGenerator<ODScenePointCloud<pcl::PointXYZRGBA> , GENERATOR_TYPE_DEVICE>::onNewFrame, <span class="keyword">this</span>, _1);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  grabber_.registerCallback (frame_cb);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  grabber_.start ();</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  boost::this_thread::sleep (boost::posix_time::seconds(5));</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  ~ODFrameGenerator()</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  {</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="comment">// Stop the grabber when shutting down</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  grabber_.stop ();</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  }</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  ODScenePointCloud<pcl::PointXYZRGBA> * getNextFrame()</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  OpenNIFrameSource::PointCloudPtr frame = snap();</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> ODScenePointCloud<pcl::PointXYZRGBA>(frame);</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">bool</span> isValid() {<span class="keywordflow">return</span> isActive();}</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">const</span> PointCloudPtr snap ()</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  {</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">return</span> (most_recent_frame_);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">bool</span> isActive ()</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  {</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</span> active_;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">void</span> onKeyboardEvent (<span class="keyword">const</span> pcl::visualization::KeyboardEvent & event)</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  {</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="comment">// When the spacebar is pressed, trigger a frame capture</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  mutex_.lock ();</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">if</span> (event.keyDown () && <span class="keyword">event</span>.getKeySym () == <span class="stringliteral">"e"</span>)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  active_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  mutex_.unlock ();</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordtype">void</span> onNewFrame (<span class="keyword">const</span> PointCloudConstPtr &cloud)</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  {</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  mutex_.lock ();</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  ++frame_counter_;</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  most_recent_frame_ = boost::make_shared < PointCloud > (*cloud); <span class="comment">// Make a copy of the frame</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  mutex_.unlock ();</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  pcl::OpenNIGrabber grabber_;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  PointCloudPtr most_recent_frame_;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">int</span> frame_counter_;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  boost::mutex mutex_;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">bool</span> active_;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  };</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="comment">//</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="preprocessor">#endif //OPENDETECTION_ODFRAMEGENERATOR_H</span></div>
<div class="ttc" id="namespaceod_html_a44058895e134b19a728118c2ac349411"><div class="ttname"><a href="namespaceod.html#a44058895e134b19a728118c2ac349411">od::myglob</a></div><div class="ttdeci">std::vector< std::string > myglob(const std::string &pat)</div></div>
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