How to count depth images from kinect

asked 2011-11-05 04:10:22 -0600

Paul0nc
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I'm using a Kinect with depth_viewer. I'm able to view depth images, but I'd like to be able to view and store a fixed number of them (say, 100). If I put a counter in my main program, it does not increment. If I put the same counter in the subscriber callback function to openni_camera, it does not increment (I'm guessing it gets reset on every received message).

I would think this is easy... but I'm not sure how to approach it. Any help would be appreciated.

Thanks, Paul

answered 2011-11-05 04:22:19 -0600

lucascoelho

497 ●16 ●34 ●32

You should use a global variable to store the number.

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I tried this. It yielded a compilation error that the variable was not defined within the scope of the callback function.

Paul0nc ( 2011-11-05 04:32:01 -0600 )edit

That's strange because we don't need to define a global variable again inside the callback function. What arguments are your callback function using?

lucascoelho ( 2011-11-05 05:01:14 -0600 )edit

The callback argument is the depth image from the kinect. Can I add any other arguments?

Paul0nc ( 2011-11-05 05:23:38 -0600 )edit

Declaring the local variable in the callback function to be a 'static int' solved the problem.

Paul0nc ( 2011-11-05 05:31:13 -0600 )edit

You can use more than 1 arguments. To know how to do it, please see that page: http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers . A static variable is not deleted if your program go out of the function. So it will have the previous value if the function is called again.

lucascoelho ( 2011-11-05 05:46:31 -0600 )edit

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