/** @brief Main function
* @return Exit status */
int
main (void)
{
viewer_ptr.reset (new pcl::visualization::CloudViewer ("3D Viewer"));
ensenso_ptr.reset (new pcl::EnsensoGrabber);
ensenso_ptr->openDevice (0);
ensenso_ptr->openTcpPort ();
//ensenso_ptr->initExtrinsicCalibration (5); // Disable projector if you want good looking images.
// You won't be able to detect a calibration pattern with the projector enabled!
boost::function<void
(const boost::shared_ptr<PointCloudT>&,
const boost::shared_ptr<PairOfImages>&)> f = boost::bind (&grabberCallback, _1, _2);
ensenso_ptr->registerCallback (f);
cv::namedWindow ("Ensenso images", cv::WINDOW_AUTOSIZE);
ensenso_ptr->start ();
while (!viewer_ptr->wasStopped ())
{
PCL_INFO("FPS: %f\n", ensenso_ptr->getFramesPerSecond ());
boost::this_thread::sleep (boost::posix_time::milliseconds (500));
}
ensenso_ptr->stop ();
//cv::destroyAllWindows (); // Doesn't work
ensenso_ptr->closeDevice ();
ensenso_ptr->closeTcpPort ();
return 0;
}
