int
main (void)
{
ensenso_grabber.reset (new pcl::EnsensoGrabber ());
if (ensenso_grabber == 0)
return (-1);
ensenso_grabber->enumDevices ();
ensenso_grabber->openTcpPort (); // default port = 24000
ensenso_grabber->openDevice ();
ensenso_grabber->configureCapture ();
ensenso_grabber->setExtrinsicCalibration (); // Temporary reset calibration if it has be written in EEPROM
boost::function<void (const PointCloudT::ConstPtr&)> f = boost::bind (&grabberCallback, _1);
ensenso_grabber->registerCallback (f);
viewer.reset (new CloudViewer ("3D Viewer"));
ensenso_grabber->start ();
std::cout << std::endl;
while (!viewer->wasStopped ()) {
boost::this_thread::sleep (boost::posix_time::milliseconds (1000));
std::cout << "FPS: " << ensenso_grabber->getFramesPerSecond () << std::endl;
}
ensenso_grabber->stop ();
ensenso_grabber->closeDevice ();
return (0);
}
