1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
|
# -*- coding: utf-8 -*-
# The OpenNI Grabber Framework in PCL
# http://pointclouds.org/documentation/tutorials/openni_grabber.php
import pcl
import pcl.pcl_grabber
import pcl.pcl_visualization
def class SimpleOpenNIViewer:
SimpleOpenNIViewer()
viewer = pcl.pcl_visualization.CloudViewer(b'PCL OpenNI Viewer')
def void cloud_cb_ (pcl.PointCloud_Ptr_t cloud):
if !viewer.wasStopped() == True:
viewer.showCloud (cloud)
def void run ():
interface = new pcl.OpenNIGrabber()
interface.RegisterCallback (cloud_cb_)
interface.Start ()
while !viewer.wasStopped() == True:
# boost::this_thread::sleep (boost::posix_time::seconds (1));
time.sleep(1)
interface.Stop()
if __name__ == '__main__':
v = SimpleOpenNIViewer()
v.run()
|
