[Jderobot-admin] jderobot-r1180 - trunk/src/stable/components/openniServer
frivas en jderobot.org
frivas en jderobot.org
Lun Mar 3 21:25:13 CET 2014
Author: frivas
Date: 2014-03-03 21:25:12 +0100 (Mon, 03 Mar 2014)
New Revision: 1180
Modified:
trunk/src/stable/components/openniServer/CMakeLists.txt
trunk/src/stable/components/openniServer/myprogeo.h
trunk/src/stable/components/openniServer/openniServer.cfg
trunk/src/stable/components/openniServer/openniServer.cpp
Log:
#180 Logger integrated into openniServer
Modified: trunk/src/stable/components/openniServer/CMakeLists.txt
===================================================================
--- trunk/src/stable/components/openniServer/CMakeLists.txt 2014-03-03 18:53:35 UTC (rev 1179)
+++ trunk/src/stable/components/openniServer/CMakeLists.txt 2014-03-03 20:25:12 UTC (rev 1180)
@@ -47,6 +47,7 @@
${OpenCV_LIBRARIES}
${OpenCVGUI_LIBRARIES}
${gsl_LIBRARIES}
+ logger
jderobotutil
geometry
colorspacesmm
@@ -67,6 +68,7 @@
geometry
colorspacesmm
JderobotInterfaces
+ logger
${OPENNI2_LIB}
${Boost_LIBRARIES}
${LIBXML2_LIBRARIES}
Modified: trunk/src/stable/components/openniServer/myprogeo.h
===================================================================
--- trunk/src/stable/components/openniServer/myprogeo.h 2014-03-03 18:53:35 UTC (rev 1179)
+++ trunk/src/stable/components/openniServer/myprogeo.h 2014-03-03 20:25:12 UTC (rev 1180)
@@ -28,6 +28,7 @@
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
+#include <log/Logger.h>
#define MAX_CAMERAS 8
Modified: trunk/src/stable/components/openniServer/openniServer.cfg
===================================================================
--- trunk/src/stable/components/openniServer/openniServer.cfg 2014-03-03 18:53:35 UTC (rev 1179)
+++ trunk/src/stable/components/openniServer/openniServer.cfg 2014-03-03 20:25:12 UTC (rev 1180)
@@ -5,6 +5,7 @@
openniServer.PlayerDetection=0
openniServer.Mode=0
openniServer.ImageRegistration=1
+openniServer.Hz=20
#mode=0 -> fps: 30x: 320y 240
@@ -46,3 +47,9 @@
openniServer.Debug=1
openniServer.Fps=20
+
+# Levels: 0(DEBUG), 1(INFO), 2(WARNING), 3(ERROR)
+
+3DPT.Viewer.Log.File.Name=./log/openniServer.txt
+3DPT.Viewer.Log.File.Level=0
+3DPT.Viewer.Log.Screen.Level=0
Modified: trunk/src/stable/components/openniServer/openniServer.cpp
===================================================================
--- trunk/src/stable/components/openniServer/openniServer.cpp 2014-03-03 18:53:35 UTC (rev 1179)
+++ trunk/src/stable/components/openniServer/openniServer.cpp 2014-03-03 20:25:12 UTC (rev 1180)
@@ -43,6 +43,7 @@
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/video/background_segm.hpp>
#include <signal.h>
+#include <log/Logger.h>
#ifdef WITH_NITE2
@@ -60,7 +61,7 @@
#define CHECK_RC(rc, what) \
if (rc != openni::STATUS_OK) \
{ \
- std::cout << what << " failed: " << openni::OpenNI::getExtendedError() << std::endl; \
+ std::cerr << what << " failed: " << std::string(openni::OpenNI::getExtendedError()) << std::endl; \
\
}
@@ -93,7 +94,6 @@
IceUtil::Mutex controlMutex;
IceUtil::Cond sem;
int mirrorDepth, mirrorRGB;
-int debug;
namespace openniServer{
@@ -112,7 +112,7 @@
int segmentationType; //0 ninguna, 1 NITE
-int mainFPS = 30;
+int mainFPS;
@@ -124,9 +124,8 @@
rc = openni::OpenNI::initialize();
if (rc != openni::STATUS_OK)
{
- std::cout << SELCAM << ": Initialize failed: "<< openni::OpenNI::getExtendedError() <<std::endl;
+ jderobot::Logger::getInstance()->error( boost::lexical_cast<std::string>(SELCAM) + ": Initialize failed: "+ std::string(openni::OpenNI::getExtendedError()));
}
-
openni::Array<openni::DeviceInfo> deviceList;
openni::OpenNI::enumerateDevices(&deviceList);
@@ -134,7 +133,7 @@
//checking the number off connected devices
if (deviceList.getSize() < 1)
{
- std::cout << "Missing devices" << std::endl;
+ jderobot::Logger::getInstance()->error( "Missing devices" );
openni::OpenNI::shutdown();
}
@@ -148,7 +147,7 @@
rc = m_device.open(deviceUri);
if (rc != openni::STATUS_OK)
{
- std::cout << SELCAM << " : Couldn't open device " << deviceUri << ": " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( boost::lexical_cast<std::string>(SELCAM) + " : Couldn't open device " + std::string(deviceUri) + ": " + std::string(std::string(openni::OpenNI::getExtendedError())));
openni::OpenNI::shutdown();
}
@@ -163,27 +162,27 @@
//rc = depth.start();
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: Couldn't start depth stream: "<< openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: Couldn't start depth stream: "+ std::string(std::string(openni::OpenNI::getExtendedError())) );
depth.destroy();
}
}
else
{
- std::cout << "OpenniServer: Couldn't find depth stream: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: Couldn't find depth stream: " + std::string(openni::OpenNI::getExtendedError()) );
}
if (mirrorDepth){
rc=depth.setMirroringEnabled(true);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set depth mirror: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set depth mirror: " + std::string(openni::OpenNI::getExtendedError()) );
}
}
else{
rc=depth.setMirroringEnabled(false);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set depth mirror: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set depth mirror: " + std::string(openni::OpenNI::getExtendedError()) );
}
}
}
@@ -196,26 +195,26 @@
//rc = color.start();
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: Couldn't start color stream: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: Couldn't start color stream: " + std::string(openni::OpenNI::getExtendedError()) );
color.destroy();
}
}
else
{
- std::cout << "OpenniServer: Couldn't find color stream: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: Couldn't find color stream: " + std::string(openni::OpenNI::getExtendedError()) );
}
if (mirrorRGB){
rc=color.setMirroringEnabled(true);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set color mirror: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set color mirror: " + std::string(openni::OpenNI::getExtendedError()) );
}
}
else{
rc=color.setMirroringEnabled(false);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set color mirror: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error("OpenniServer: error at set color mirror: " + std::string(openni::OpenNI::getExtendedError()) );
}
}
}
@@ -223,23 +222,18 @@
-
-
-
if (cameraD){
const openni::SensorInfo *depthSensorInfo = m_device.getSensorInfo(openni::SENSOR_DEPTH);
rc= depth.setVideoMode(depthSensorInfo->getSupportedVideoModes()[deviceMode]);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set depth videoMode: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set depth videoMode: " + std::string(openni::OpenNI::getExtendedError()) );
}
- if (debug){
- std::cout << "OpenniServer: depth modes" << std::endl;
- for(int i=0;i < depthSensorInfo->getSupportedVideoModes().getSize();i++)
- {
- openni::VideoMode videoMode = depthSensorInfo->getSupportedVideoModes()[i];
- std::cout << "fps: " << videoMode.getFps() << "x: " << videoMode.getResolutionX() << "y " << videoMode.getResolutionY() << std::endl;
- }
+ jderobot::Logger::getInstance()->info( "OpenniServer: depth modes" );
+ for(int i=0;i < depthSensorInfo->getSupportedVideoModes().getSize();i++)
+ {
+ openni::VideoMode videoMode = depthSensorInfo->getSupportedVideoModes()[i];
+ jderobot::Logger::getInstance()->info( "fps: " + boost::lexical_cast<std::string>(videoMode.getFps()) + "x: " + boost::lexical_cast<std::string>(videoMode.getResolutionX()) + "y " + boost::lexical_cast<std::string>(videoMode.getResolutionY()) );
}
depthVideoMode = depth.getVideoMode();
depth.start();
@@ -251,16 +245,14 @@
rc= color.setVideoMode(colorSensorInfo->getSupportedVideoModes()[deviceMode]);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set color videoMode: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error("OpenniServer: error at set color videoMode: " + std::string(openni::OpenNI::getExtendedError()) );
color.destroy();
}
- if (debug){
- std::cout << "OpenniServer color modes:" << std::endl;
- for(int i=0;i < colorSensorInfo->getSupportedVideoModes().getSize();i++)
- {
- openni::VideoMode videoMode = colorSensorInfo->getSupportedVideoModes()[i];
- std::cout << "fps: " << videoMode.getFps() << "x: " << videoMode.getResolutionX() << "y " << videoMode.getResolutionY() << std::endl;
- }
+ jderobot::Logger::getInstance()->info( "OpenniServer color modes:" );
+ for(int i=0;i < colorSensorInfo->getSupportedVideoModes().getSize();i++)
+ {
+ openni::VideoMode videoMode = colorSensorInfo->getSupportedVideoModes()[i];
+ jderobot::Logger::getInstance()->info( "fps: " + boost::lexical_cast<std::string>(videoMode.getFps()) + "x: " + boost::lexical_cast<std::string>(videoMode.getResolutionX()) + "y " + boost::lexical_cast<std::string>(videoMode.getResolutionY()) );
}
colorVideoMode = color.getVideoMode();
srcRGB = new cv::Mat(cv::Size(colorVideoMode.getResolutionX(),colorVideoMode.getResolutionY()),CV_8UC3);
@@ -274,21 +266,21 @@
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set registration: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set registration: " + std::string(openni::OpenNI::getExtendedError()) );
}
}
- std::cout << "COLOR: fps:" << color.getVideoMode().getFps() << "w" << color.getVideoMode().getResolutionX() << "h" << color.getVideoMode().getResolutionY() << std::endl;
- std::cout << "DEPTH: fps:" << depth.getVideoMode().getFps() << "w" << depth.getVideoMode().getResolutionX() << "h" << depth.getVideoMode().getResolutionY() << std::endl;
+ jderobot::Logger::getInstance()->info( "COLOR: fps:" + boost::lexical_cast<std::string>(color.getVideoMode().getFps()) + "w" + boost::lexical_cast<std::string>(color.getVideoMode().getResolutionX()) + "h" + boost::lexical_cast<std::string>(color.getVideoMode().getResolutionY()) );
+ jderobot::Logger::getInstance()->info( "DEPTH: fps:" + boost::lexical_cast<std::string>(depth.getVideoMode().getFps()) + "w" + boost::lexical_cast<std::string>(depth.getVideoMode().getResolutionX()) + "h" + boost::lexical_cast<std::string>(depth.getVideoMode().getResolutionY()));
if (cameraR && cameraD){
rc=m_device.setDepthColorSyncEnabled(true);
if (rc != openni::STATUS_OK)
{
- std::cout << "OpenniServer: error at set syncronization: " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: error at set syncronization: " + std::string(openni::OpenNI::getExtendedError()) );
}
if (depth.isValid() && color.isValid())
{
@@ -304,7 +296,7 @@
}
else
{
- std::cout << "Error - expect color and depth to be in same resolution: D: " << depthWidth << "x" << depthHeight << "C: " << colorWidth << "x" << colorHeight << std::endl;
+ jderobot::Logger::getInstance()->error( "Error - expect color and depth to be in same resolution: D: " + boost::lexical_cast<std::string>(depthWidth) + "x" + boost::lexical_cast<std::string>(depthHeight) + "C: " + boost::lexical_cast<std::string>(colorWidth) + "x" + boost::lexical_cast<std::string>(colorHeight));
}
@@ -325,7 +317,7 @@
if (m_pUserTracker->create(&m_device) != nite::STATUS_OK)
{
- std::cout << "OpenniServer: Couldn't create userTracker " << std::endl;
+ jderobot::Logger::getInstance()->error( "OpenniServer: Couldn't create userTracker " );
}
}
#endif
@@ -354,11 +346,11 @@
rc=openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex,SAMPLE_READ_WAIT_TIMEOUT);
if (rc != openni::STATUS_OK)
{
- std::cout<< "Wait failed! (timeout is " << SAMPLE_READ_WAIT_TIMEOUT << "ms) " << openni::OpenNI::getExtendedError() << std::endl;
+ jderobot::Logger::getInstance()->warning( "Wait failed! (timeout is " + boost::lexical_cast<std::string>(SAMPLE_READ_WAIT_TIMEOUT) + "ms) " + std::string(openni::OpenNI::getExtendedError()) );
retry_times++;
if (retry_times > RETRY_MAX_TIMES)
{
- std::cout << "Retry Max Times exceeded!. Force Exit!!" << std::endl;
+ jderobot::Logger::getInstance()->error( "Retry Max Times exceeded!. Force Exit!!" );
exit(-1);
}
continue;
@@ -370,10 +362,10 @@
if (rc != openni::STATUS_OK)
{
- std::cout << "Wait failed" << std::endl;
+ jderobot::Logger::getInstance()->warning( "Wait failed" );
}
else if(first){
- std::cout << "OpenniServer initialized" << std::endl;
+ jderobot::Logger::getInstance()->info( "OpenniServer initialized" );
first=false;
}
/*switch (changedIndex)
@@ -406,7 +398,7 @@
m_depthFrame = userTrackerFrame.getDepthFrame();
if (rcN != nite::STATUS_OK)
{
- std::cout << "GetNextData failed" << std::endl;
+ std::cout + "GetNextData failed" << std::endl;
//return;
}
}
@@ -421,8 +413,7 @@
int process = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
if (process > (int)cycle ){
- if (debug==3)
- std::cout<<"-------- openniServer: Main openni timeout-" << std::endl;
+ jderobot::Logger::getInstance()->warning("-------- openniServer: Main openni timeout-" );
}
else{
int delay = (int)cycle - process;
@@ -473,7 +464,7 @@
//fill cameraDescription
cameraDescription->name = prop->getProperty(prefix+"Name");
if (cameraDescription->name.size() == 0)
- std::cout << "Camera name not configured" << std::endl;
+ jderobot::Logger::getInstance()->warning( "Camera name not configured" );
cameraDescription->shortDescription = prop->getProperty(prefix + "ShortDescription");
@@ -490,18 +481,18 @@
std::string fmtStr = prop->getPropertyWithDefault(prefix+"Format","YUY2");//default format YUY2
imageFmt = colorspaces::Image::Format::searchFormat(fmtStr);
if (!imageFmt)
- std::cout << "Format " << fmtStr << " unknown" << std::endl;
+ jderobot::Logger::getInstance()->warning( "Format " + fmtStr + " unknown" );
imageDescription->size = imageDescription->width * imageDescription->height * CV_ELEM_SIZE(imageFmt->cvType);
imageDescription->format = imageFmt->name;
- std::cout << "Starting thread for camera: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Starting thread for camera: " + cameraDescription->name );
replyTask = new ReplyTask(this,fps, playerdetection);
this->control=replyTask->start();//my own thread
}
virtual ~CameraRGB(){
- std::cout << "Stopping and joining thread for camera: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Stopping and joining thread for camera: " + cameraDescription->name );
replyTask->destroy();
this->control.join();
}
@@ -519,12 +510,12 @@
}
virtual std::string startCameraStreaming(const Ice::Current&){
- std::cout << "Should be made anything to start camera streaming: " << cameraDescription->name<< std::endl;
+ jderobot::Logger::getInstance()->info( "Should be made anything to start camera streaming: " + cameraDescription->name);
return std::string("");
}
virtual void stopCameraStreaming(const Ice::Current&) {
- std::cout << "Should be made anything to stop camera streaming: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Should be made anything to stop camera streaming: " + cameraDescription->name );
}
virtual void reset(const Ice::Current&)
{
@@ -625,7 +616,7 @@
case 2:
default:
- std::cout << "openniServer: Error segmentation not supported" << std::endl;
+ jderobot::Logger::getInstance()->error( "openniServer: Error segmentation not supported" );
break;
}
@@ -634,20 +625,15 @@
pImageRow += rowSize;
}
- if (debug==2){
+ /*if (debug==2){
cv::imshow("OpenniServer RGB", *srcRGB);
cv::waitKey(1);
- }
+ }*/
//test
//CalculateJoints();
-
- //cvFlip(srcRGB, NULL, 1);
- //std::cout << "camara:" << (int)mycameravga->imageDescription->width << "x" << (int) mycameravga->imageDescription->height << std::endl;
- //std::cout << "xtion: " << m_colorFrame.getWidth() << "x" << m_colorFrame.getHeight() << std::endl;
-
if ((mycameravga->imageDescription->width != m_colorFrame.getWidth()) || (mycameravga->imageDescription->height != m_colorFrame.getHeight())){
- std::cout << "Assuming kinect device with resampled on device not working" << std::endl;
+ jderobot::Logger::getInstance()->warning( "Assuming kinect device with resampled on device not working" );
resize(*srcRGB, dst_resize, srcRGB->size(), 0, 0, cv::INTER_LINEAR);
memcpy(&(reply->pixelData[0]),(unsigned char *) dst_resize.data,dst_resize.cols*dst_resize.rows * 3);
}
@@ -671,8 +657,7 @@
int process = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
if (process > (int)cycle ){
- if (debug==3)
- std::cout<<"-------- openniServer: RGB openni timeout-" << std::endl;
+ jderobot::Logger::getInstance()->warning("-------- openniServer: RGB openni timeout-" );
}
else{
int delay = (int)cycle - process;
@@ -735,7 +720,7 @@
//fill cameraDescription
cameraDescription->name = prop->getProperty(prefix+"Name");
if (cameraDescription->name.size() == 0)
- std::cout << "Camera name not configured" << std::endl;
+ jderobot::Logger::getInstance()->warning( "Camera name not configured" );
cameraDescription->shortDescription = prop->getProperty(prefix+"ShortDescription");
@@ -752,18 +737,18 @@
std::string fmtStr = prop->getPropertyWithDefault(prefix+"Format","YUY2");//default format YUY2
imageFmt = colorspaces::Image::Format::searchFormat(fmtStr);
if (!imageFmt)
- std::cout << "Format " << fmtStr << " unknown" << std::endl;
+ jderobot::Logger::getInstance()->info( "Format " + fmtStr + " unknown" );
imageDescription->size = imageDescription->width * imageDescription->height * CV_ELEM_SIZE(imageFmt->cvType);
imageDescription->format = imageFmt->name;
- std::cout << "Starting thread for camera: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Starting thread for camera: " + cameraDescription->name );
replyTask = new ReplyTask(this, imageDescription->width, imageDescription->height,fps, playerdetection);
this->control=replyTask->start();//my own thread
}
virtual ~CameraDEPTH(){
- std::cout << "Stopping and joining thread for camera: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Stopping and joining thread for camera: " + cameraDescription->name );
replyTask->destroy();
this->control.join();
@@ -782,12 +767,12 @@
}
virtual std::string startCameraStreaming(const Ice::Current&){
- std::cout << "Should be made anything to start camera streaming: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Should be made anything to start camera streaming: " + cameraDescription->name );
return std::string("");
}
virtual void stopCameraStreaming(const Ice::Current&) {
- std::cout << "Should be made anything to stop camera streaming: " << cameraDescription->name << std::endl;
+ jderobot::Logger::getInstance()->info( "Should be made anything to stop camera streaming: " + cameraDescription->name );
}
virtual void reset(const Ice::Current&)
{
@@ -826,7 +811,6 @@
IceUtil::Time lastIT;
- //std::cout << "FPS depth: " << fps << std::endl;
cycle=(float)(1/(float)fps)*1000000;
lastIT=IceUtil::Time::now();
@@ -899,22 +883,22 @@
case 2:
break;
default:
- std::cout << "openniServer: Error segmentation not supported" << std::endl;
+ jderobot::Logger::getInstance()->error( "openniServer: Error segmentation not supported" );
break;
}
}
pDepth += restOfRow;
}
- if (debug==2){
+ /*if (debug==2){
cv::imshow("OpenniServer DEPTH", src);
cv::waitKey(1);
- }
+ }*/
if ((mycameradepth->imageDescription->width != m_depthFrame.getWidth()) || (mycameradepth->imageDescription->height != m_depthFrame.getHeight())){
//cv::resize(src,dst_resize);
cv::resize(src, dst_resize, dst_resize.size(), 0, 0, cv::INTER_LINEAR);
- std::cout << "resize depth" << std::endl;
+ jderobot::Logger::getInstance()->warning("Assuming kinect device with resampled on device not working" );
memcpy(&(reply->pixelData[0]),(unsigned char *) dst_resize.data,dst_resize.cols*dst_resize.rows * 3);
}
else{
@@ -935,8 +919,7 @@
int process = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
if (process > (int)cycle ){
- if (debug==3)
- std::cout<<"-------- openniServer: Depth openni timeout-" << std::endl;
+ jderobot::Logger::getInstance()->warning("-------- openniServer: Depth openni timeout-" );
}
else{
int delay = (int)cycle - process;
@@ -1005,7 +988,7 @@
}
virtual ~pointCloudI(){
- std::cout << "Stopping and joining thread for pointCloud" << std::endl;
+ jderobot::Logger::getInstance()->info( "Stopping and joining thread for pointCloud" );
replyCloud->destroy();
this->control.join();
}
@@ -1114,8 +1097,7 @@
int delay = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
if (delay > cycle ){
- if (debug==3)
- std::cout<<"-------- openniServer: POINTCLOUD openni timeout-" << std::endl;
+ jderobot::Logger::getInstance()->info("-------- openniServer: POINTCLOUD openni timeout-" );
}
else{
if (delay <1 || delay > cycle)
@@ -1243,22 +1225,23 @@
int leds = prop->getPropertyAsIntWithDefault(componentPrefix + ".KinectLedsActive",0);
int pointCloud = prop->getPropertyAsIntWithDefault(componentPrefix + ".pointCloudActive",0);
openniServer::segmentationType= prop->getPropertyAsIntWithDefault(componentPrefix + ".PlayerDetection",0);
- debug = prop->getPropertyAsIntWithDefault(componentPrefix + ".Debug",0);
mirrorDepth = prop->getPropertyAsIntWithDefault(componentPrefix + ".CameraDEPTH.Mirror",0);
mirrorRGB = prop->getPropertyAsIntWithDefault(componentPrefix + ".CameraRGB.Mirror",0);
deviceMode=prop->getPropertyAsIntWithDefault(componentPrefix + ".Mode", 0);
+ openniServer::mainFPS=prop->getPropertyAsIntWithDefault(componentPrefix + ".Hz", 20);
std::string Endpoints = prop->getProperty(componentPrefix + ".Endpoints");
Ice::ObjectAdapterPtr adapter =ic->createObjectAdapterWithEndpoints(componentPrefix, Endpoints);
+
if (openniServer::segmentationType){
cameraR=1;
cameraD=1;
}
SELCAM = prop->getPropertyAsIntWithDefault(componentPrefix + ".deviceId",0);
- std::cout << "OpenniServer: Selected device: " << SELCAM << std::endl;
+ jderobot::Logger::getInstance()->info( "OpenniServer: Selected device: " + SELCAM );
int nCameras=0;
@@ -1316,10 +1299,10 @@
cameraName = "cameraR";
prop->setProperty(objPrefix + "Name",cameraName);//set the value
}
- std::cout << "Creating camera " << cameraName << std::endl;
+ jderobot::Logger::getInstance()->info("Creating camera " + cameraName );
camRGB = new openniServer::CameraRGB(objPrefix,prop);
adapter->add(camRGB, ic->stringToIdentity(cameraName));
- std::cout<<" -------- openniServer: Component: CameraRGB created successfully(" << Endpoints << "@" << cameraName << std::endl;
+ jderobot::Logger::getInstance()->info(" -------- openniServer: Component: CameraRGB created successfully(" + Endpoints + "@" + cameraName );
}
if (cameraD){
@@ -1329,20 +1312,20 @@
cameraName = "cameraD";
prop->setProperty(objPrefix + "Name",cameraName);//set the value
}
- std::cout << "Creating camera " << cameraName << std::endl;
+ jderobot::Logger::getInstance()->info( "Creating camera " + cameraName );
camDEPTH = new openniServer::CameraDEPTH(objPrefix,prop);
adapter->add(camDEPTH, ic->stringToIdentity(cameraName));
//test camera ok
- std::cout<<" -------- openniServer: Component: CameraDEPTH created successfully(" << Endpoints << "@" << cameraName << std::endl;
+ jderobot::Logger::getInstance()->info(" -------- openniServer: Component: CameraDEPTH created successfully(" + Endpoints + "@" + cameraName );
}
if (pointCloud){
std::string objPrefix(componentPrefix + ".PointCloud.");
std::string Name = prop->getProperty(objPrefix + "Name");
- std::cout << "Creating pointcloud1 " << Name << std::endl;
+ jderobot::Logger::getInstance()->info( "Creating pointcloud1 " + Name );
pc1 = new openniServer::pointCloudI(objPrefix,prop);
adapter->add(pc1 , ic->stringToIdentity(Name));
- std::cout<<" -------- openniServer: Component: PointCloud created successfully(" << Endpoints << "@" << Name << std::endl;
+ jderobot::Logger::getInstance()->info(" -------- openniServer: Component: PointCloud created successfully(" + Endpoints + "@" + Name );
}
adapter->activate();
ic->waitForShutdown();
More information about the Jderobot-admin
mailing list