/*----------------------------------------------------------------------------*/
void pcl::SoftKineticDevice::configureDepthNode()
{
g_dnode.newSampleReceivedEvent().connect(newDepthSampleCallback);
DepthNode::Configuration config = g_dnode.getConfiguration();
config.frameFormat = FRAME_FORMAT_QVGA;
config.framerate = 25;
config.mode = DepthNode::CAMERA_MODE_CLOSE_MODE;
config.saturation = true;
g_dnode.setEnableVertices(true);
g_dnode.setEnableVerticesFloatingPoint(true);
g_dnode.setEnableDepthMapFloatingPoint(true);
try
{
context_.requestControl(g_dnode,0);
g_dnode.setConfiguration(config);
}
catch (ArgumentException& e)
{
printf("Argument Exception: %s\n",e.what());
}
catch (UnauthorizedAccessException& e)
{
printf("Unauthorized Access Exception: %s\n",e.what());
}
catch (IOException& e)
{
printf("IO Exception: %s\n",e.what());
}
catch (InvalidOperationException& e)
{
printf("Invalid Operation Exception: %s\n",e.what());
}
catch (ConfigurationException& e)
{
printf("Configuration Exception: %s\n",e.what());
}
catch (StreamingException& e)
{
printf("Streaming Exception: %s\n",e.what());
}
catch (TimeoutException&)
{
printf("TimeoutException\n");
}
}
/*----------------------------------------------------------------------------*/
void SoftKineticCamera::configureDepthNode()
{
m_dnode.newSampleReceivedEvent().connect(&onNewDepthSample);
DepthNode::Configuration config = m_dnode.getConfiguration();
config.frameFormat = FRAME_FORMAT_QVGA;
config.framerate = 25;
config.mode = DepthNode::CAMERA_MODE_CLOSE_MODE;
config.saturation = true;
m_dnode.setEnableDepthMap(true);
try
{
m_context.requestControl(m_dnode,0);
m_dnode.setEnableConfidenceMap(true);
m_dnode.setConfidenceThreshold(120);
m_dnode.setConfiguration(config);
}
catch (ArgumentException& e)
{
printf("Argument Exception: %s\n",e.what());
}
catch (UnauthorizedAccessException& e)
{
printf("Unauthorized Access Exception: %s\n",e.what());
}
catch (IOException& e)
{
printf("IO Exception: %s\n",e.what());
}
catch (InvalidOperationException& e)
{
printf("Invalid Operation Exception: %s\n",e.what());
}
catch (ConfigurationException& e)
{
printf("Configuration Exception: %s\n",e.what());
}
catch (StreamingException& e)
{
printf("Streaming Exception: %s\n",e.what());
}
catch (TimeoutException&)
{
printf("TimeoutException\n");
}
}