Created
January 11, 2013 19:10
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patch for using openni_camera with oni files
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# HG changeset patch | |
# User ruben.smits@intermodalics.eu | |
# Date 1354264641 -3600 | |
# Node ID f0a77d69738b2eac0cbcb938280434b53ea0dc5e | |
# Parent 4ece7c6f00fbda4bd63f2e5d7a1743485e2e2304 | |
Add support to read from oni files. No extra parameters are added. Will always loop and stream. | |
diff -r 4ece7c6f00fb -r f0a77d69738b src/nodelets/driver.cpp | |
--- a/src/nodelets/driver.cpp Sun Jun 10 22:38:34 2012 -0500 | |
+++ b/src/nodelets/driver.cpp Fri Nov 30 09:37:21 2012 +0100 | |
@@ -209,7 +209,23 @@ | |
// Initialize the openni device | |
OpenNIDriver& driver = OpenNIDriver::getInstance (); | |
- do { | |
+ string device_id; | |
+ try { | |
+ if (getPrivateNodeHandle().getParam("device_id", device_id)){ | |
+ if(device_id.find('.oni') != string::npos){ | |
+ { | |
+ NODELET_INFO ("Creating virtual device from ONI file = %s",device_id.c_str()); | |
+ device_ = driver.createVirtualDevice(device_id,true,true); | |
+ } | |
+ } | |
+ } | |
+ } | |
+ catch (const OpenNIException& exception) { | |
+ NODELET_ERROR ("No ONI file found: ", exception.what ()); | |
+ exit (-1); | |
+ } | |
+ | |
+ while (!device_) { | |
driver.updateDeviceList (); | |
if (driver.getNumberDevices () == 0) | |
@@ -230,7 +246,6 @@ | |
} | |
try { | |
- string device_id; | |
if (!getPrivateNodeHandle().getParam("device_id", device_id)) | |
{ | |
NODELET_WARN ("~device_id is not set! Using first device."); | |
@@ -270,7 +285,7 @@ | |
exit (-1); | |
} | |
} | |
- } while (!device_); | |
+ } | |
NODELET_INFO ("Opened '%s' on bus %d:%d with serial number '%s'", device_->getProductName (), | |
device_->getBus (), device_->getAddress (), device_->getSerialNumber ()); |
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