41 #include <pcl/pcl_config.h>
43 #include <pcl/common/time.h>
44 #include <pcl/common/io.h>
45 #include <pcl/PolygonMesh.h>
46 #include <pcl/io/grabber.h>
70 using Ptr = shared_ptr<DavidSDKGrabber>;
71 using ConstPtr = shared_ptr<const DavidSDKGrabber>;
98 connect (
const std::string & address =
"127.0.0.1",
99 std::uint16_t port = david::DAVID_SDK_DefaultPort);
104 disconnect (
const bool stop_server);
122 isConnected ()
const;
141 setFileFormatToOBJ ();
146 setFileFormatToPLY ();
150 setFileFormatToSTL ();
162 setLocalPath (std::string path);
169 setRemotePath (std::string path);
177 setLocalAndRemotePaths (std::string local_path,
178 std::string remote_path);
191 calibrate (
double grid_size);
209 getFramesPerSecond ()
const;
boost::signals2::signal< sig_cb_davidsdk_point_cloud > * point_cloud_signal_
Boost point cloud signal.
boost::signals2::signal< sig_cb_davidsdk_image > * image_signal_
Boost image signal.
pcl::EventFrequency frequency_
processGrabbing capture/processing frequency
david::Client david_
davidSDK client
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.
std::mutex fps_mutex_
Mutual exclusion for FPS computation.
shared_ptr< PointCloud< PointT > > Ptr
Grabber for davidSDK structured light compliant devices.
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. ...
shared_ptr< ::pcl::PCLImage > Ptr
std::thread grabber_thread_
Grabber thread.
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.
bool client_connected_
Whether the client is connected.
std::string local_path_
Local path of directory where the scanning file will be located.
shared_ptr< ::pcl::PolygonMesh > Ptr
std::string remote_path_
Remote path of directory where the scanning file will be located.