/*----------------------------------------------------------------------------*/ 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"); } }