/*----------------------------------------------------------------------------*/
int main(int argc, char* argv[])
{
ros::init (argc, argv, "pub_pcl");
ros::NodeHandle nh;
pub = nh.advertise<PointCloud> ("points2", 1);
point_cloud::PointCloud detector("pcl_class1"); //creates PointCloudLab class object
int user_input = 1;
g_context = Context::create("localhost");
g_context.deviceAddedEvent().connect(&onDeviceConnected);
g_context.deviceRemovedEvent().connect(&onDeviceDisconnected);
// Get the list of currently connected devices
vector<Device> da = g_context.getDevices();
// We are only interested in the first device
if (da.size() >= 1)
{
g_bDeviceFound = true;
da[0].nodeAddedEvent().connect(&onNodeConnected);
da[0].nodeRemovedEvent().connect(&onNodeDisconnected);
vector<Node> na = da[0].getNodes();
printf("Found %u nodes\n",na.size());
for (int n = 0; n < (int)na.size(); n++)
configureNode(na[n]);
}
while(user_input==1) {
g_context.startNodes();
g_context.run();
g_context.stopNodes();
cout << "Please enter an 1 or 0: ";
cin >> user_input;
}
if (g_cnode.isSet()) g_context.unregisterNode(g_cnode);
if (g_dnode.isSet()) g_context.unregisterNode(g_dnode);
if (g_anode.isSet()) g_context.unregisterNode(g_anode);
if (g_pProjHelper)
delete g_pProjHelper;
return 0;
}
/*----------------------------------------------------------------------------*/
void SoftKineticCamera::configureNode(Node node)
{
if ((node.is<DepthNode>())&&(!m_dnode.isSet()))
{
m_dnode = node.as<DepthNode>();
configureDepthNode();
m_context.registerNode(node);
}
if ((node.is<ColorNode>())&&(!m_cnode.isSet()))
{
m_cnode = node.as<ColorNode>();
configureColorNode();
m_context.registerNode(node);
}
if ((node.is<AudioNode>())&&(!m_anode.isSet()))
{
m_anode = node.as<AudioNode>();
configureAudioNode();
m_context.registerNode(node);
}
}
/*----------------------------------------------------------------------------*/
void configureNode(Node node)
{
if ((node.is<DepthNode>())&&(!g_dnode.isSet()))
{
g_dnode = node.as<DepthNode>();
configureDepthNode();
g_context.registerNode(node);
}
if ((node.is<ColorNode>())&&(!g_cnode.isSet()))
{
g_cnode = node.as<ColorNode>();
configureColorNode();
g_context.registerNode(node);
}
if ((node.is<AudioNode>())&&(!g_anode.isSet()))
{
g_anode = node.as<AudioNode>();
configureAudioNode();
g_context.registerNode(node);
}
}
