test_wrapper.cpp
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
00030  */
00031 
00032 #include "openni2_camera/openni2_device_manager.h"
00033 #include "openni2_camera/openni2_device.h"
00034 
00035 #include <boost/date_time/posix_time/posix_time.hpp>
00036 #include <boost/thread/thread.hpp>
00037 #include <boost/foreach.hpp>
00038 
00039 #include <iostream>
00040 
00041 using namespace std;
00042 using namespace openni2_wrapper;
00043 
00044 int ir_counter_ = 0;
00045 int color_counter_ = 0;
00046 int depth_counter_ = 0;
00047 
00048 void IRCallback(sensor_msgs::ImagePtr image)
00049 {
00050   ++ir_counter_;
00051 }
00052 
00053 void ColorCallback(sensor_msgs::ImagePtr image)
00054 {
00055   ++color_counter_;
00056 }
00057 
00058 void DepthCallback(sensor_msgs::ImagePtr image)
00059 {
00060   ++depth_counter_;
00061 }
00062 
00063 int main()
00064 {
00065   OpenNI2DeviceManager device_manager;
00066 
00067   std::cout << device_manager;
00068 
00069   boost::shared_ptr<std::vector<std::string> > device_uris = device_manager.getConnectedDeviceURIs();
00070 
00071   BOOST_FOREACH(const std::string& uri, *device_uris)
00072   {
00073     boost::shared_ptr<OpenNI2Device> device = device_manager.getDevice(uri);
00074 
00075     std::cout << *device;
00076 
00077     device->setIRFrameCallback(boost::bind(&IRCallback, _1));
00078     device->setColorFrameCallback(boost::bind(&ColorCallback, _1));
00079     device->setDepthFrameCallback(boost::bind(&DepthCallback, _1));
00080 
00081     ir_counter_ = 0;
00082     color_counter_ = 0;
00083     depth_counter_ = 0;
00084 
00085     device->startColorStream();
00086     device->startDepthStream();
00087 
00088     boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
00089 
00090     device->stopAllStreams();
00091 
00092     std::cout<<std::endl;
00093 
00094     std::cout<<"Number of called to IRCallback: "<< ir_counter_ << std::endl;
00095     std::cout<<"Number of called to ColorCallback: "<< color_counter_ << std::endl;
00096     std::cout<<"Number of called to DepthCallback: "<< depth_counter_ << std::endl;
00097   }
00098 
00099 
00100   return 0;
00101 }


openni2_camera
Author(s): Julius Kammerl
autogenerated on Mon Oct 6 2014 03:05:32