void CPlayerInterpolator::process(const shared_ptr<CMessage>& message) {
switch( message->getMessageType() ) {
case Message::PLAYER_SNAPSHOT: {
storeSnapshot( static_pointer_cast<CMessagePlayerSnapshot>(message) );
break;
}
}
}
/**
* @function main
*/
int main( int argc, char* argv[] ) {
// Open channels with marker-position information
if( !openComm() ) { printf("Error opening comm \n"); return 1; }
// Marker detector
mMd.setMarkerSize(5);
// Open device
cv::VideoCapture capture( cv::CAP_OPENNI2 );
if( !capture.isOpened() ) {
std::cout << "t * Could not open the capture object"<<std::endl;
return -1;
}
printf("\t * Opened device \n");
capture.set( cv::CAP_PROP_OPENNI2_MIRROR, 0.0 ); // off
capture.set( cv::CAP_PROP_OPENNI_REGISTRATION, -1.0 ); // on
printf("\t * RGB dimensions: (%f,%f), Depth dimensions: (%f,%f) \n",
capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR + cv::CAP_PROP_FRAME_WIDTH ),
capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR + cv::CAP_PROP_FRAME_HEIGHT ),
capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR + cv::CAP_PROP_FRAME_WIDTH ),
capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR + cv::CAP_PROP_FRAME_HEIGHT ) );
// Set control panel
int value;
cv::namedWindow( mWindowName );
// Set mouse callback
cv::setMouseCallback( mWindowName, onMouse, 0 );
// Set buttons
cv::createTrackbar( "T2_tb", "T2", &value, 255, NULL, NULL );
cv::createButton( "START", start,
NULL, cv::QT_PUSH_BUTTON,
false );
cv::createButton( "STOP", stop,
NULL, cv::QT_PUSH_BUTTON,
false );
cv::createTrackbar( "T3_tb", "T3", &value, 255, NULL, NULL );
cv::createButton( "Show points", showPoints,
NULL, cv::QT_PUSH_BUTTON,
false );
cv::createTrackbar( "T4_tb", "T4", &value, 255, NULL, NULL );
cv::createButton( "Calibrate", calibrate,
NULL, cv::QT_PUSH_BUTTON,
false );
// Loop
for(;;) {
if( !capture.grab() ) {
std::cout << "\t * [DAMN] Could not grab a frame" << std::endl;
return -1;
}
capture.retrieve( mRgbImg, cv::CAP_OPENNI_BGR_IMAGE );
capture.retrieve( mDepthImg, cv::CAP_OPENNI_POINT_CLOUD_MAP );
update_robotInfo();
mMd.detect( mRgbImg );
// If start
if( !stop_flag ) {
grabSnapshot( 0, NULL );
storeSnapshot( 0, NULL );
}
cv::imshow( mWindowName, mRgbImg );
char k = cv::waitKey(30);
if( k == 'q' ) {
printf("\t * [PRESSED ESC] Finishing the program \n");
break;
}
aa_mem_region_local_release();
} // end for
return 0;
}
