def __init__(self,
frame_callback=None,
connection_callback=None,
calibrate=True,
state_function=None,
blocking=True):
"""
Starts the RGBD streamer object
The parameters are the following:
- frame_callback: a callback function this object will call whenever a new calibrated RGBD frame is available
- connection_callback: this is called whenever there is an update in the connection.
- calibrate: Whether to calibrate the RGB-D data or not. If not, then the only thing it's retrieved are the
RGB and Depth frames.
- stateFunction: This is a function which this module calls as soon as a new RGB-D frame is read. It is useful
to capture external information with timing as close as possible to the timing a frame is read
"""
# Configuring the behavior
self.frame_callback = frame_callback
self.connection_callback = connection_callback
self.calibrate = calibrate
self.state_function = state_function
self.blocking = blocking # Blocking behavior for the caller application
# Inner states
self.streamLoopRunning = True
self.paused = False
self.delta = False
# The source object for recorded RGB-D data. Devices data sources are handled inside pclStreamer
self.recordedSource = None
# The object with the relevant calibration data
self.KDH = RGBDCamera()
# By providing the references to the PCLStreamer of the cameras, it should be enough to do the calibration
self.pclStreamer.setCameras(self.KDH.rgb_camera, self.KDH.depth_camera)
self.connected = False
self.N_frames = 100
# The fifo of frames
self.FIFO = deque()
self.frameLock = Lock()
self.recordingsLock = Lock()
self.frameIndex = -1
# Inner thread which is retrieving calibrated frames
self.streamThread = Thread(target=self.streamLoop)
self.streamThread.start()
# Inner thread which is reading recorded RGB-D data (e.g. video files). Emulates a behavior like OpenNI but,
# due to python restrictions, it would still run in the same CPU as the main thread
self.RGBDReadThread = Thread(target=self.readRecordedLoop)
self.RGBDReadThread.start()
