/*----------------------------------------------------------------------------*/
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;
}
static ColorNode getFirstAvailableColorNode(Context context){
// obtain the list of devices attached to the host
vector<Device> devices = context.getDevices();
for (vector<Device>::const_iterator iter = devices.begin(); iter != devices.end(); iter++)
{
Device device = *iter;
// obtain the list of nodes of the current device
vector<Node> nodes = device.getNodes();
for (vector<Node>::const_iterator nodeIter = nodes.begin(); nodeIter != nodes.end(); nodeIter++)
{
Node node = *nodeIter;
// if the node is a DepthSense::ColorNode, return it
ColorNode colorNode = node.as<ColorNode>();
if (colorNode.isSet())
return colorNode;
}
}
// return an unset color node
return ColorNode();
}
/*----------------------------------------------------------------------------*/
void pcl::SoftKineticDevice::configureNode(Node node)
{
if ((node.is<DepthNode>())&&(!g_dnode.isSet()))
{
g_dnode = node.as<DepthNode>();
configureDepthNode();
context_.registerNode(node);
}
if ((node.is<ColorNode>())&&(!g_cnode.isSet()))
{
g_cnode = node.as<ColorNode>();
configureColorNode();
context_.registerNode(node);
}
// if ((node.is<AudioNode>())&&(!g_anode.isSet()))
// {
// g_anode = node.as<AudioNode>();
// configureAudioNode();
// context_.registerNode(node);
// }
}
void
pcl::SoftKineticDevice::close ()
{
//pp_.Close ();
if (context_.isSet())
{
context_.quit();
skrun_thread_.join();
context_.stopNodes();
if (g_cnode.isSet()) { context_.unregisterNode(g_cnode); g_cnode.unset(); }
if (g_dnode.isSet()) { context_.unregisterNode(g_dnode); g_dnode.unset(); }
//if (g_anode.isSet()) context_.unregisterNode(g_anode);
if (g_pProjHelper) {
delete g_pProjHelper;
g_pProjHelper = NULL;
}
context_.unset();
}
}
/*----------------------------------------------------------------------------*/
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);
}
}
