void thread_grabbing(TThreadParam& p)
{
try
{
CKinect kinect;
// Set params:
// kinect.enableGrab3DPoints(true);
// kinect.enablePreviewRGB(true);
//...
const std::string cfgFile = "kinect_calib.cfg";
if (mrpt::system::fileExists(cfgFile))
{
cout << "Loading calibration from: " << cfgFile << endl;
kinect.loadConfig(mrpt::config::CConfigFile(cfgFile), "KINECT");
}
else
cerr << "Warning: Calibration file [" << cfgFile
<< "] not found -> Using default params. "
"This may cause inaccurate 3D point clouds.\n Checkout the "
"kinect-stereo-calib application:\n "
"http://www.google.com/"
"search?q=kinect-stereo-calib%20mrpt&btnI \n";
// Open:
cout << "Calling CKinect::initialize()...";
kinect.initialize();
cout << "OK\n";
CTicTac tictac;
int nImgs = 0;
bool there_is_obs = true, hard_error = false;
while (!hard_error && !p.quit)
{
// Grab new observation from the camera:
CObservation3DRangeScan::Ptr obs = mrpt::make_aligned_shared<
CObservation3DRangeScan>(); // Smart pointer to observation
kinect.getNextObservation(*obs, there_is_obs, hard_error);
if (!hard_error && there_is_obs)
{
std::atomic_store(&p.new_obs, obs);
}
if (p.pushed_key != 0)
{
switch (p.pushed_key)
{
case 's':
p.tilt_ang_deg -= 2;
if (p.tilt_ang_deg < -30) p.tilt_ang_deg = -30;
kinect.setTiltAngleDegrees(p.tilt_ang_deg);
break;
case 'w':
p.tilt_ang_deg += 2;
if (p.tilt_ang_deg > 30) p.tilt_ang_deg = 30;
kinect.setTiltAngleDegrees(p.tilt_ang_deg);
break;
case 27:
p.quit = true;
break;
}
// Clear pushed key flag:
p.pushed_key = 0;
}
nImgs++;
if (nImgs > 10)
{
p.Hz = nImgs / tictac.Tac();
nImgs = 0;
tictac.Tic();
}
}
}
catch (std::exception& e)
{
cout << "Exception in Kinect thread: " << e.what() << endl;
p.quit = true;
}
}
void thread_grabbing(TThreadParam& p)
{
try
{
CKinect kinect;
// Set params:
// kinect.enableGrab3DPoints(true);
// kinect.enablePreviewRGB(true);
//...
const std::string cfgFile = "kinect_calib.cfg";
if (mrpt::system::fileExists(cfgFile))
{
cout << "Loading calibration from: " << cfgFile << endl;
kinect.loadConfig(mrpt::config::CConfigFile(cfgFile), "KINECT");
}
else
cerr << "Warning: Calibration file [" << cfgFile
<< "] not found -> Using default params.\n";
// Open:
cout << "Calling CKinect::initialize()...";
kinect.initialize();
cout << "OK\n";
mrpt::system::CTicTac tictac;
int nImgs = 0;
bool there_is_obs = true, hard_error = false;
while (!hard_error && !p.quit)
{
// Grab new observation from the camera:
CObservation3DRangeScan::Ptr obs = mrpt::make_aligned_shared<
CObservation3DRangeScan>(); // Smart pointers to observations
CObservationIMU::Ptr obs_imu =
mrpt::make_aligned_shared<CObservationIMU>();
kinect.getNextObservation(*obs, *obs_imu, there_is_obs, hard_error);
if (!hard_error && there_is_obs)
{
std::atomic_store(&p.new_obs, obs);
std::atomic_store(&p.new_obs_imu, obs_imu);
}
if (p.pushed_key != 0)
{
switch (p.pushed_key)
{
case 's':
p.tilt_ang_deg -= 1;
if (p.tilt_ang_deg < -31) p.tilt_ang_deg = -31;
kinect.setTiltAngleDegrees(p.tilt_ang_deg);
break;
case 'w':
p.tilt_ang_deg += 1;
if (p.tilt_ang_deg > 31) p.tilt_ang_deg = 31;
kinect.setTiltAngleDegrees(p.tilt_ang_deg);
break;
case 'c':
// Switch video input:
kinect.setVideoChannel(
kinect.getVideoChannel() ==
CKinect::VIDEO_CHANNEL_RGB
? CKinect::VIDEO_CHANNEL_IR
: CKinect::VIDEO_CHANNEL_RGB);
break;
case 27:
p.quit = true;
break;
}
// Clear pushed key flag:
p.pushed_key = 0;
}
nImgs++;
if (nImgs > 10)
{
p.Hz = nImgs / tictac.Tac();
nImgs = 0;
tictac.Tic();
}
}
}
catch (const std::exception& e)
{
cout << "Exception in Kinect thread: " << mrpt::exception_to_str(e)
<< endl;
p.quit = true;
}
}
