GitHub PullRequestReviewCommentEvent at 2014-10-07 15:10:10
Repository: pcl
Actor: VictorLamoine
Payload: {"action":"created","comment":{"url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/comments/18525439","id":18525439,"diff_hunk":"@@ -0,0 +1,141 @@\n+/*\r\n+ * Software License Agreement (BSD License)\r\n+ *\r\n+ *  Point Cloud Library (PCL) - www.pointclouds.org\r\n+ *  Copyright (c) 2014-, Open Perception, Inc.\r\n+ *\r\n+ *  All rights reserved.\r\n+ *\r\n+ *  Redistribution and use in source and binary forms, with or without\r\n+ *  modification, are permitted provided that the following conditions\r\n+ *  are met:\r\n+ *\r\n+ *   * Redistributions of source code must retain the above copyright\r\n+ *     notice, this list of conditions and the following disclaimer.\r\n+ *   * Redistributions in binary form must reproduce the above\r\n+ *     copyright notice, this list of conditions and the following\r\n+ *     disclaimer in the documentation and/or other materials provided\r\n+ *     with the distribution.\r\n+ *   * Neither the name of the copyright holder(s) nor the names of its\r\n+ *     contributors may be used to endorse or promote products derived\r\n+ *     from this software without specific prior written permission.\r\n+ *\r\n+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\r\n+ *  \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\r\n+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\r\n+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\r\n+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\r\n+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\r\n+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\r\n+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\r\n+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\r\n+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\r\n+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\r\n+ *  POSSIBILITY OF SUCH DAMAGE.\r\n+ *\r\n+ *  Author: Victor Lamoine (victor.lamoine@gmail.com)\r\n+ */\r\n+\r\n+#include <iostream>\r\n+#include <nxLib.h> // Ensenso SDK\r\n+#include <pcl/io/ply_io.h>\r\n+#include <pcl/common/common.h>\r\n+\r\n+typedef pcl::PointXYZ PointT;\r\n+typedef pcl::PointCloud<PointT> PointCloudT;\r\n+\r\n+/** @brief This computes and update the point cloud from the Ensenso camera\r\n+ * @param[in] the Nx tree object\r\n+ * @param[out] the point cloud to be updated\r\n+ * This function also pushes values into @ref ensenso_time_vec and @ref pcl_time_vec\r\n+ */\r\n+void\r\n+updatePointCloud (NxLibItem camera,\r\n+                  PointCloudT::Ptr cloud);\r\n+\r\n+/** @brief The main function\r\n+ * 1 - Initialize nxLib API\r\n+ * 2 - Create a reference to the API tree root\r\n+ * 3 - Create a object referencing the camera's tree item\r\n+ * 4 - Open the camera\r\n+ * 5 - Fetch clouds from the camera */\r\n+int\r\n+main (void)\r\n+{\r\n+  try\r\n+  {\r\n+    std::cout << \"Initializing nxLib\" << std::endl;\r\n+    nxLibInitialize ();\r\n+    NxLibItem root;  // Reference to the API tree root\r\n+\r\n+    std::cout << \"Opening Ensenso stereo camera\" << std::endl;\r\n+    // Create an object referencing the camera's tree item, for easier access:\r\n+    NxLibItem camera = root[itmCameras][itmBySerialNo][0];\r","path":"io/tools/ensenso_grabber_example.cpp","position":73,"original_position":73,"commit_id":"2fdd5ee061dbbdd36b1fdb797a2598f18ab566bf","original_commit_id":"9ef43e22f5fcf8f71af06c58074fc2b9566ab49a","user":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars.githubusercontent.com/u/5566160?v=2","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"body":"Yes it works here","created_at":"2014-10-07T15:10:10Z","updated_at":"2014-10-07T15:10:10Z","html_url":"https://github.com/PointCloudLibrary/pcl/pull/888#discussion_r18525439","pull_request_url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/888","_links":{"self":{"href":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/comments/18525439"},"html":{"href":"https://github.com/PointCloudLibrary/pcl/pull/888#discussion_r18525439"},"pull_request":{"href":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/888"}}},"pull_request":{"url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/888","id":20833802,"html_url":"https://github.com/PointCloudLibrary/pcl/pull/888","diff_url":"https://github.com/PointCloudLibrary/pcl/pull/888.diff","patch_url":"https://github.com/PointCloudLibrary/pcl/pull/888.patch","issue_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/888","number":888,"state":"open","locked":false,"title":"Add Ensenso support","user":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars.githubusercontent.com/u/5566160?v=2","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"body":"If you want to test please read [the tutorial](https://github.com/VictorLamoine/pcl/blob/ensenso/doc/tutorials/content/ensenso_cameras.rst) first. For the last steps you will, of course, need an Ensenso device!\r\n\r\n- The Ensenso grabber has been written like the OpenNI grabber class\r\n- The code contains 2 examples, with/without the Ensenso grabber class\r\n- The code is documented\r\n- Support for Windows has not been tested\r\n- A tutorial has been written to explain how to use the Ensenso in PCL\r\n\r\n[pcl-developers topic](http://www.pcl-developers.org/IDS-Imaging-Ensenso-td5709495.html)","created_at":"2014-09-05T20:52:12Z","updated_at":"2014-10-07T15:10:10Z","closed_at":null,"merged_at":null,"merge_commit_sha":"58f7efd1bf3b8bc53f812b62cd89b92ff942a93d","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/888/commits","review_comments_url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/888/comments","review_comment_url":"https://api.github.com/repos/PointCloudLibrary/pcl/pulls/comments/{number}","comments_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/888/comments","statuses_url":"https://api.github.com/repos/PointCloudLibrary/pcl/statuses/2fdd5ee061dbbdd36b1fdb797a2598f18ab566bf","head":{"label":"VictorLamoine:ensenso","ref":"ensenso","sha":"2fdd5ee061dbbdd36b1fdb797a2598f18ab566bf","user":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars.githubusercontent.com/u/5566160?v=2","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"repo":{"id":16950553,"name":"pcl","full_name":"VictorLamoine/pcl","owner":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars.githubusercontent.com/u/5566160?v=2","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/VictorLamoine/pcl","description":"Point 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