63 lines
2.9 KiB
C++
63 lines
2.9 KiB
C++
/*******************************************************************************
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*BSD 3-Clause License
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*
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*Copyright (c) 2016-2025, Mech-Mind Robotics Technologies Co., Ltd.
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*All rights reserved.
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*
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*Redistribution and use in source and binary forms, with or without
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*modification, are permitted provided that the following conditions are met:
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*
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*1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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*2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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*3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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*THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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*AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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*FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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*DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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*SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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*OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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*OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#pragma once
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#include <iostream>
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#include "MechEyeApi.h"
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#include "OpenCVUtil.h"
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#include "PclUtil.h"
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inline void capture(mmind::api::MechEyeDevice& device, std::string suffix)
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{
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const std::string colorFile = suffix.empty() ? "ColorMap.png" : "ColorMap_" + suffix + ".png";
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const std::string depthFile = suffix.empty() ? "DepthMap.png" : "DepthMap_" + suffix + ".png";
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const std::string pointCloudPath =
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suffix.empty() ? "PointCloud.ply" : "PointCloud_" + suffix + ".ply";
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const std::string pointCloudColorPath =
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suffix.empty() ? "ColorPointCloud.ply" : "ColorPointCloud_" + suffix + ".ply";
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mmind::api::ColorMap color;
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showError(device.captureColorMap(color));
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saveMap(color, colorFile);
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mmind::api::DepthMap depth;
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showError(device.captureDepthMap(depth));
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saveMap(depth, depthFile);
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mmind::api::PointXYZMap pointXYZMap;
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showError(device.capturePointXYZMap(pointXYZMap));
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savePLY(pointXYZMap, pointCloudPath);
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mmind::api::PointXYZBGRMap pointXYZBGRMap;
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showError(device.capturePointXYZBGRMap(pointXYZBGRMap));
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savePLY(pointXYZBGRMap, pointCloudColorPath);
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}
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