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added ros parameter to disable user input thread.

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This commit is contained in:
Christian Forster
2014-06-11 10:37:40 +02:00
parent 2d2b949c7e
commit 166cd1c75e
1 changed files with 13 additions and 6 deletions
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svo_ros/src/vo_node.cpp
+13 -6
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@@ -45,7 +45,7 @@ public:
svo::Visualizer visualizer_; svo::Visualizer visualizer_;
bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices)
bool publish_dense_input_; bool publish_dense_input_;
vk::UserInputThread* user_input_thread_; boost::shared_ptr<vk::UserInputThread> user_input_thread_;
ros::Subscriber sub_remote_key_; ros::Subscriber sub_remote_key_;
std::string remote_input_; std::string remote_input_;
vk::AbstractCamera* cam_; vk::AbstractCamera* cam_;
@@ -61,11 +61,14 @@ VoNode::VoNode() :
vo_(NULL), vo_(NULL),
publish_markers_(vk::getParam<bool>("svo/publish_markers", true)), publish_markers_(vk::getParam<bool>("svo/publish_markers", true)),
publish_dense_input_(vk::getParam<bool>("svo/publish_dense_input", false)), publish_dense_input_(vk::getParam<bool>("svo/publish_dense_input", false)),
user_input_thread_(new vk::UserInputThread()),
remote_input_(""), remote_input_(""),
cam_(NULL), cam_(NULL),
quit_(false) quit_(false)
{ {
// Start user input thread in parallel thread that listens to console keys
if(vk::getParam<bool>("svo/accept_console_user_input", true))
user_input_thread_ = boost::make_shared<vk::UserInputThread>();
// Create Camera // Create Camera
if(!vk::camera_loader::loadFromRosNs("svo", cam_)) if(!vk::camera_loader::loadFromRosNs("svo", cam_))
throw std::runtime_error("Camera model not correctly specified."); throw std::runtime_error("Camera model not correctly specified.");
@@ -87,8 +90,9 @@ VoNode::VoNode() :
VoNode::~VoNode() VoNode::~VoNode()
{ {
delete vo_; delete vo_;
delete user_input_thread_;
delete cam_; delete cam_;
if(user_input_thread_ != NULL)
user_input_thread_->stop();
} }
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
@@ -118,9 +122,12 @@ void VoNode::processUserActions()
char input = remote_input_.c_str()[0]; char input = remote_input_.c_str()[0];
remote_input_ = ""; remote_input_ = "";
char console_input = user_input_thread_->getInput(); if(user_input_thread_ != NULL)
if(console_input != 0) {
input = console_input; char console_input = user_input_thread_->getInput();
if(console_input != 0)
input = console_input;
}
switch(input) switch(input)
{ {