Question

我正在尝试使用Orbbec Astra来运行PCL采集器程序。我修改了示例代码以与Openni2采集卡一起使用。但是我收到以下错误。请告诉我我要去哪里了。我在Ubuntu 16.04上使用PCL 1.8.0。这是我的代码：

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni2_grabber.h>
#include <pcl/common/time.h>

class SimpleOpenNIProcessor
{
public:
 void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
  {
static unsigned count = 0;
static double last = pcl::getTime ();
if (++count == 30)
{
  double now = pcl::getTime ();
  std::cout << "distance of center pixel :" << cloud->points [(cloud->width >> 1) * (cloud->height + 1)].z << " mm. Average framerate: " << double(count)/double(now - last) << " Hz" <<  std::endl;
  count = 0;
  last = now;
}
 }

 void run ()
 {
// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::io::OpenNI2Grabber();

// make callback function from member function
boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
  boost::bind (&SimpleOpenNIProcessor::cloud_cb_, this, _1);

// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);

// start receiving point clouds
interface->start ();

// wait until user quits program with Ctrl-C, but no busy-waiting -> sleep (1);
while (true)
  boost::this_thread::sleep (boost::posix_time::seconds (1));

// stop the grabber
interface->stop ();
  }
};

int main ()
{
  SimpleOpenNIProcessor v;
   v.run ();
   return (0);
   }

抛出'pcl :: IOException'实例后调用

terminate what（）：void pcl :: io :: OpenNI2Grabber :: setupDevice（const string＆，const pcl :: io :: OpenNI2Grabber :: Mode＆，const pcl :: io :: OpenNI2Grabber :: Mode＆）在/ pcl / io / src中/openni2_grabber.cpp @ 325：未连接任何设备。中止（核心已弃用）

Openni2采集器返回错误：抛出pcl :: IOException

0 个答案: