Esempio n. 1
0
    void 
    grabAndSend ()
    {
      OpenNIGrabber* grabber = new OpenNIGrabber ();
      grabber->getDevice ()->setDepthOutputFormat (depth_mode_);

      Grabber* interface = grabber;
      boost::function<void (const typename PointCloud<PointT>::ConstPtr&)> f = boost::bind (&Producer::grabberCallBack, this, _1);
      interface->registerCallback (f);
      interface->start ();

     while (true)
      {
        if (is_done) {
          break;
        }
        char c;
        {
       //  boost::mutex::scoped_lock io_lock (io_mutex);
          c = getch();
        }
        if (c == 'q') {
          boost::mutex::scoped_lock io_lock (io_mutex);
          print_info ("\n'q' detected, exit condition set to true.\n");
          is_done = true;
        } else if (!is_done && c == 's') {
          {
            boost::mutex::scoped_lock wflag_lock (wflag_mutex);
            write_once = true;
          }
        } else if (!is_done && c == 'n'){
          boost::mutex::scoped_lock io_lock (noise_flag_mutex);
          if (!calculate_noise) {
            calculate_noise = true;
            num_pcd_sample = 100;
            depths_sample.clear();

          }
        }
        boost::this_thread::sleep (boost::posix_time::seconds (1));
      }

      interface->stop ();
    }
Esempio n. 2
0
    void 
    grabAndSend ()
    {
      OpenNIGrabber* grabber = new OpenNIGrabber ();
      grabber->getDevice ()->setDepthOutputFormat (depth_mode_);

      Grabber* interface = grabber;
      boost::function<void (const typename PointCloud<PointT>::ConstPtr&)> f = boost::bind (&Producer::grabberCallBack, this, _1);
      interface->registerCallback (f);
      interface->start ();

      while (true)
      {
        if (is_done)
          break;
        boost::this_thread::sleep (boost::posix_time::seconds (1));
      }
      interface->stop ();
    }