CloudPlayerThread: déplacement du décodeur PCL en init et application de l'offset de cloud

src/ofxCloudLib/CloudPlayerThread.hpp

@@ -11,7 +11,14 @@ namespace ofxCloudLib
 class CloudPlayerThread : public ofThread
 {
   public:
-    CloudPlayerThread() {}
+    CloudPlayerThread()
+    {
+
+        octree_coder_ = new pcl::io::OctreePointCloudCompression<pcl::PointXYZ>(
+            pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR,
+            false, .01, .01, false, 1, 1,
+            static_cast<unsigned char>(4));
+    }
 
     ~CloudPlayerThread()
     {
@@ -23,13 +30,13 @@ class CloudPlayerThread : public ofThread
     {
         playback_path_ = playback_path;
         if (ofDirectory::doesDirectoryExist(playback_path_)) {
-        	ofDirectory dir = ofDirectory(playback_path_);
+            ofDirectory dir = ofDirectory(playback_path_);
 
-            std::cout << "CLOUDPLAYER: playing from " << playback_path_ << std::endl;
             filename_       = playback_path_;
             is_setup_       = true;
             total_frames_   = dir.listDir();
             decoded_frames_ = 0;
+            std::cout << "CLOUDPLAYER: playing " << total_frames_ << " frames from " << playback_path_ << std::endl;
 
         } else {
             std::cout << "ERROR:: CLOUDPLAYER:: no such directory" << playback_path_ << std::endl;
@@ -78,6 +85,7 @@ class CloudPlayerThread : public ofThread
     bool is_mesh_new() { return new_mesh_; }
 
     ofMesh &get_mesh() { return mesh_; }
+    float offset_x_, offset_z_;
 
     void stop()
     {
@@ -98,6 +106,8 @@ class CloudPlayerThread : public ofThread
         while (1) {
             if (stop_thread_) {
                 stop_thread_ = false;
+                std::cout << "CLOUD PLAYER: thread stopped" << std::endl;
+
                 return;
             }
             auto sysnow   = std::chrono::system_clock::now();
@@ -121,20 +131,12 @@ class CloudPlayerThread : public ofThread
                     decoded_frames_ = 0;
                 } else {
 
-                    octree_coder_ = new pcl::io::OctreePointCloudCompression<pcl::PointXYZ>(
-                        pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR,
-                        false, .01, .01, false, 1, 1,
-                        static_cast<unsigned char>(4));
-
-
                     cloudfile.seekg(0);
                     cloudfile.unsetf(ios_base::skipws);
                     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
                     cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
                     octree_coder_->decodePointCloud(cloudfile, cloud);
 
-                    cloudfile.close();
-
                     struct stat st;
                     // int ierr           = stat(filename_to_decode, &st);
                     stat(filename_to_decode, &st);
@@ -149,7 +151,6 @@ class CloudPlayerThread : public ofThread
                     delay = 50;
 
                     previousCloudTimestamp = status_ms;
-
                     decodingFenceTimestamp = now + delay;
 
                     // std::cout << "read cloud #" << decoded_frames_ << " with " << cloud->size() << " points from " << filename_to_decode << " with interval: " << delay << std::endl;
@@ -157,17 +158,20 @@ class CloudPlayerThread : public ofThread
 
                     ofMesh mesh;
                     for (unsigned int qq = 0; qq < cloud->size(); qq++) {
-                        mesh.addVertex(ofPoint(cloud->points[qq].x,
+                        mesh.addVertex(ofPoint(cloud->points[qq].x + offset_x_,
                                                cloud->points[qq].y,
-                                               cloud->points[qq].z));
+                                               cloud->points[qq].z + offset_z_));
                     }
                     recorded_.send(std::move(cloud));
                     recorded_mesh_.send(std::move(mesh));
                 }
+                cloudfile.close();
+
             } else {
-                //         std::cout << "DECODEUR: sleep" << std::endl;
+                //       std::cout << "DECODEUR: sleep" << std::endl;
                 std::this_thread::sleep_for(std::chrono::milliseconds(2));
             }
+            std::this_thread::sleep_for(std::chrono::milliseconds(2));
         }
     }
 
@@ -178,11 +182,12 @@ class CloudPlayerThread : public ofThread
 
     std::string filename_;
     std::string playback_path_;
-    bool new_mesh_         = false;
-    bool new_cloud_        = false;
-    bool is_setup_         = false;
-    bool stop_thread_      = false;
-    bool data_available_   = false;
+    bool new_mesh_       = false;
+    bool new_cloud_      = false;
+    bool is_setup_       = false;
+    bool stop_thread_    = false;
+    bool data_available_ = false;
+
     size_t decoded_frames_ = 0;
     size_t total_frames_   = 0;
 
@@ -192,6 +197,6 @@ class CloudPlayerThread : public ofThread
     ofThreadChannel<pcl::PointCloud<pcl::PointXYZ>::Ptr> recorded_;
     ofThreadChannel<ofMesh> recorded_mesh_;
 };
-}
+} // namespace ofxCloudLib
 
 #endif // CLOUDPLAYERTHREAD_HPP
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