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 ();
}
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 ();
}
