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Fix compile issue in people_app #3618

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Jan 31, 2020
Merged

Fix compile issue in people_app #3618

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52 changes: 21 additions & 31 deletions gpu/people/tools/people_app.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,22 +60,19 @@
#include <iostream>

namespace pc = pcl::console;
using namespace pcl::visualization;
using namespace pcl::gpu;
using namespace pcl;
using namespace std;
using namespace std::chrono_literals;

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////

std::vector<string> getPcdFilesInDir(const string& directory)
std::vector<std::string> getPcdFilesInDir(const std::string& directory)
{
namespace fs = boost::filesystem;
fs::path dir(directory);

if (!fs::exists(dir) || !fs::is_directory(dir))
PCL_THROW_EXCEPTION(pcl::IOException, "Wrong PCD directory");

std::vector<string> result;
std::vector<std::string> result;
fs::directory_iterator pos(dir);
fs::directory_iterator end;

Expand All @@ -89,7 +86,7 @@ std::vector<string> getPcdFilesInDir(const string& directory)

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////

struct SampledScopeTime : public StopWatch
struct SampledScopeTime : public pcl::StopWatch
{
enum { EACH = 33 };
SampledScopeTime(int& time_ms) : time_ms_(time_ms) {}
Expand All @@ -110,7 +107,7 @@ struct SampledScopeTime : public StopWatch

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////

string
std::string
make_name(int counter, const char* suffix)
{
char buf[4096];
Expand Down Expand Up @@ -167,15 +164,14 @@ class PeoplePCDApp
rgba_host_.points.resize(COLS * ROWS);
rgb_host_.resize(COLS * ROWS * 3);

people::uploadColorMap(color_map_);

pcl::gpu::people::uploadColorMap(color_map_);
}

void
visualizeAndWrite()
{
const PeopleDetector::Labels& labels = people_detector_.rdf_detector_->getLabels();
people::colorizeLabels(color_map_, labels, cmap_device_);
pcl::gpu::people::colorizeLabels(color_map_, labels, cmap_device_);
//people::colorizeMixedLabels(

int c;
Expand Down Expand Up @@ -212,7 +208,7 @@ class PeoplePCDApp
}
}

void source_cb1(const PointCloud<PointXYZRGBA>::ConstPtr& cloud)
void source_cb1(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
{
{
std::lock_guard<std::mutex> lock(data_ready_mutex_);
Expand Down Expand Up @@ -260,7 +256,7 @@ class PeoplePCDApp
for(std::size_t i = 0; i < rgba_host_.size(); ++i)
{
const unsigned char *pixel = &rgb_host_[i * 3];
RGB& rgba = rgba_host_.points[i];
pcl::RGB& rgba = rgba_host_.points[i];
rgba.r = pixel[0];
rgba.g = pixel[1];
rgba.b = pixel[2];
Expand All @@ -275,14 +271,14 @@ class PeoplePCDApp
{
cloud_cb_ = false;

PCDGrabberBase* ispcd = dynamic_cast<pcl::PCDGrabberBase*>(&capture_);
auto ispcd = dynamic_cast<pcl::PCDGrabberBase*>(&capture_);
if (ispcd)
cloud_cb_= true;

using DepthImagePtr = openni_wrapper::DepthImage::Ptr;
using ImagePtr = openni_wrapper::Image::Ptr;

std::function<void (const PointCloud<PointXYZRGBA>::ConstPtr&)> func1 = [this] (const PointCloud<PointXYZRGBA>::ConstPtr& cloud) { source_cb1 (cloud); };
std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> func1 = [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { source_cb1 (cloud); };
std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func2 = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
{
source_cb2 (img, depth, constant);
Expand Down Expand Up @@ -345,12 +341,12 @@ class PeoplePCDApp
pcl::PointCloud<pcl::RGB> rgba_host_;
std::vector<unsigned char> rgb_host_;

PointCloud<PointXYZRGBA> cloud_host_;
pcl::PointCloud<pcl::PointXYZRGBA> cloud_host_;

ImageViewer final_view_;
ImageViewer depth_view_;
pcl::visualization::ImageViewer final_view_;
pcl::visualization::ImageViewer depth_view_;

DeviceArray<pcl::RGB> color_map_;
pcl::device::DeviceArray<pcl::RGB> color_map_;
};

void print_help()
Expand Down Expand Up @@ -387,8 +383,8 @@ int main(int argc, char** argv)
pc::parse_argument (argc, argv, "-w", write);

// selecting data source
shared_ptr<pcl::Grabber> capture;
string openni_device, oni_file, pcd_file, pcd_folder;
pcl::shared_ptr<pcl::Grabber> capture;
std::string openni_device, oni_file, pcd_file, pcd_folder;

try
{
Expand All @@ -404,29 +400,23 @@ int main(int argc, char** argv)
else
if (pc::parse_argument (argc, argv, "-pcd", pcd_file) > 0)
{
capture.reset( new pcl::PCDGrabber<PointXYZRGBA>(vector<string>(31, pcd_file), 30, true) );
capture.reset( new pcl::PCDGrabber<pcl::PointXYZRGBA>(std::vector<std::string>(31, pcd_file), 30, true) );
}
else
if (pc::parse_argument (argc, argv, "-pcd_folder", pcd_folder) > 0)
{
std::vector<string> pcd_files = getPcdFilesInDir(pcd_folder);
capture.reset( new pcl::PCDGrabber<PointXYZRGBA>(pcd_files, 30, true) );
std::vector<std::string> pcd_files = getPcdFilesInDir(pcd_folder);
capture.reset( new pcl::PCDGrabber<pcl::PointXYZRGBA>(pcd_files, 30, true) );
}
else
{
capture.reset( new pcl::OpenNIGrabber() );
//capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224932.oni", true, true) );

//vector<string> pcd_files(31, "d:/3/0008.pcd");
//vector<string> pcd_files(31, "d:/git/pcl/gpu/people/tools/test.pcd");
//vector<string> pcd_files = getPcdFilesInDir("d:/3/");
//capture.reset( new pcl::PCDGrabber<PointXYZRGBA>(pcd_files, 30, true) );
}
}
catch (const pcl::PCLException& /*e*/) { return std::cout << "Can't open depth source" << std::endl, -1; }

//selecting tree files
std::vector<string> tree_files;
std::vector<std::string> tree_files;
tree_files.emplace_back("Data/forest1/tree_20.txt");
tree_files.emplace_back("Data/forest2/tree_20.txt");
tree_files.emplace_back("Data/forest3/tree_20.txt");
Expand Down