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);
}
/** @brief Main function
* @return Exit status */
int
main (void)
{
viewer_ptr.reset (new pcl::visualization::CloudViewer ("3D Viewer"));
ensenso_ptr.reset (new pcl::EnsensoGrabber);
ensenso_ptr->openDevice (0);
ensenso_ptr->openTcpPort ();
//ensenso_ptr->initExtrinsicCalibration (5); // Disable projector if you want good looking images.
// You won't be able to detect a calibration pattern with the projector enabled!
boost::function<void
(const boost::shared_ptr<PointCloudT>&,
const boost::shared_ptr<PairOfImages>&)> f = boost::bind (&grabberCallback, _1, _2);
ensenso_ptr->registerCallback (f);
cv::namedWindow ("Ensenso images", cv::WINDOW_AUTOSIZE);
ensenso_ptr->start ();
while (!viewer_ptr->wasStopped ())
{
PCL_INFO("FPS: %f\n", ensenso_ptr->getFramesPerSecond ());
boost::this_thread::sleep (boost::posix_time::milliseconds (500));
}
ensenso_ptr->stop ();
//cv::destroyAllWindows (); // Doesn't work
ensenso_ptr->closeDevice ();
ensenso_ptr->closeTcpPort ();
return 0;
}