openni_grabber.h

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#ifndef PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_
#define PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_

#include <pcl/apps/optronic_viewer/qt.h>
#include <boost/shared_ptr.hpp>
#include <pcl/io/openni_grabber.h>

#include <pcl/visualization/pcl_visualizer.h>

#include <fz_api.h>


namespace pcl
{
  namespace apps
  {
    namespace optronic_viewer
    {
      
      class OpenNIGrabber : public QThread
      {
        Q_OBJECT

        public:
          OpenNIGrabber (pcl::Grabber * grabber);
          virtual ~OpenNIGrabber ();

          void run ();

          void cloudCallback (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr & cloud);

        signals:
          void cloudReceived (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud);

        private:
          pcl::Grabber * grabber_;
      };
      
    }
  }
}

#endif // PCL_APPS_OPTRONIC_VIEWER_OPENNI_GRABBER_H_