C++ Context::StopGeneratingAll方法代码示例

bool DataCapture::stopDataCapture()
{
    context_.StopGeneratingAll();
    context_.Shutdown(); // do once. should probably be in uninitialise()
    return true;
}

int main(int argc, char **argv)
{
ros::init(argc, argv, "openni_tracker");
ros::NodeHandle nh, nh_private("~");
ROS_INFO_STREAM("Initialising OpenNI tracker ...");

default_user =  0;
available_tracked_users_pub = nh_private.advertise<std_msgs::UInt16MultiArray>("available_users", 10, true);
default_user_pub = nh_private.advertise<std_msgs::UInt16>("tracked_user", 10, true);
user_chooser_sub = nh_private.subscribe("user_chooser", 10, userChooserCallback);

string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
ROS_INFO_STREAM("Setting up configuration from XML file '" << configFilename << "'");
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");

ROS_INFO_STREAM("Looking for existing depth generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Looking for existing user generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

if (nRetVal != XN_STATUS_OK)
{
  nRetVal = g_UserGenerator.Create(g_Context);
  CHECK_RC(nRetVal, "Find user generator");
  ROS_INFO_STREAM("No existing user generators found. Created new one.");
  ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
}

if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
  ROS_INFO_STREAM("Supplied user generator doesn't support skeleton");
  return 1;
}

ROS_INFO_STREAM("Registering user callbacks ...");
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);

ROS_INFO_STREAM("Registering calibration callbacks ...");
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart,
                                                              UserCalibration_CalibrationEnd, NULL,
                                                              hCalibrationCallbacks);

ROS_INFO_STREAM("Checking pose detection capability ...");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
  g_bNeedPose = TRUE;
  if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
  {
    ROS_INFO_STREAM("Pose required, but not supported");
    return 1;
  }

  ROS_INFO_STREAM("Registering pose callbacks ...");
  XnCallbackHandle hPoseCallbacks;
  g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);

  ROS_INFO_STREAM("Getting calibration pose ...");
  g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}

ROS_INFO_STREAM("Setting skeleton profile ...");
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

//g_Context.Release();

ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Stopping to generate everything ...");
nRetVal = g_Context.StopGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Setting up ROS node ...");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);

nRetVal = g_Context.GetGlobalErrorState();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("And go!");

while (ros::ok())
{
  ros::spinOnce();
  nRetVal = g_Context.WaitAndUpdateAll();
//.........这里部分代码省略.........

void Context_StopGeneratingAll_wrapped(xn::Context& self) {
    check( self.StopGeneratingAll() );
}

int main() {
	printf("main() START\n");
	signal(SIGINT, onSignalReceived); // hit CTRL-C keys in terminal (2)
	signal(SIGTERM, onSignalReceived); // hit stop button in eclipse CDT (15)

	mapMode.nXRes = XN_VGA_X_RES;
	mapMode.nYRes = XN_VGA_Y_RES;
	mapMode.nFPS = 30;

	CHECK_RC(ctx.Init(), "init");
	CHECK_RC(depthGenerator.Create(ctx), "create depth");
	depthGenerator.SetMapOutputMode(mapMode);

	XnStatus userAvailable = ctx.FindExistingNode(XN_NODE_TYPE_USER, userGenerator);
	if(userAvailable != XN_STATUS_OK) {
		CHECK_RC(userGenerator.Create(ctx), "create user");
	}

	XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
	xn::SkeletonCapability skel = userGenerator.GetSkeletonCap();
	CHECK_RC(userGenerator.RegisterUserCallbacks(onUserNew, onUserLost, NULL, hUserCallbacks), "register user");
	CHECK_RC(skel.RegisterCalibrationCallbacks(onCalibrationStart, onCalibrationEnd, NULL, hCalibrationCallbacks), "register calib");
	CHECK_RC(userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(onPoseDetected, NULL, NULL, hPoseCallbacks), "register pose");

	XnChar poseName[20] = "";
	CHECK_RC(skel.GetCalibrationPose(poseName), "get posename");
	printf("poseName: %s\n", poseName);
	CHECK_RC(skel.SetSkeletonProfile(XN_SKEL_PROFILE_ALL), "set skel profile");
	CHECK_RC(skel.SetSmoothing(0.8), "set smoothing");
//	xnSetMirror(depth, !mirrorMode);

	CHECK_RC(ctx.StartGeneratingAll(), "start generating");

	printf("waitAnyUpdateAll ...\n");
	while(!shouldTerminate) {
		ctx.WaitAnyUpdateAll();
//		depthGenerator.GetMetaData(tempDepthMetaData);

		const XnUInt16 userCount = userGenerator.GetNumberOfUsers();
//		printf("userCount: %i\n", userCount);
		XnUserID aUsers[userCount];
		XnUInt16 nUsers = userCount;
		userGenerator.GetUsers(aUsers, nUsers);
		for (int i = 0; i < nUsers; ++i) {
			XnUserID currentUserId = aUsers[i];
			if (skel.IsTracking(aUsers[i])) {
				XnSkeletonJointPosition joint;
				skel.GetSkeletonJointPosition(currentUserId, XN_SKEL_HEAD, joint);
				XnFloat x = joint.position.X;
				XnFloat y = joint.position.Y;
				XnFloat z = joint.position.Z;
				printf("joint position: %.2f x %.2f x %.2f\n", x, y, z);
				printf("joint.fConfidence: %.2f\n", joint.fConfidence);
			}
		}
	}
	printf("STOP\n");
	CHECK_RC(ctx.StopGeneratingAll(), "stop generating");
	ctx.Shutdown();

	printf("main() END\n");
}