openni_grabber.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement  (BSD License)
00003  *
00004  *  Point Cloud Library  (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2012-, Open Perception, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of the copyright holder(s) nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES  (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  */
00037 
00038 #include <pcl/apps/optronic_viewer/openni_grabber.h>
00039 
00040 #include <pcl/io/openni_grabber.h>
00041 
00042 
00044 pcl::apps::optronic_viewer::
00045 OpenNIGrabber::
00046 OpenNIGrabber (pcl::Grabber * grabber)
00047   : QThread ()
00048   , grabber_ (grabber)
00049 {
00050   qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr> ("pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr");
00051 }
00052 
00054 pcl::apps::optronic_viewer::
00055 OpenNIGrabber::
00056 ~OpenNIGrabber ()
00057 {
00058 }
00059 
00061 void
00062 pcl::apps::optronic_viewer::
00063 OpenNIGrabber::
00064 run ()
00065 {
00066   std::cerr << "run grabber thread..." << std::endl;
00067   boost::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr & cloud) > f = 
00068     boost::bind (&pcl::apps::optronic_viewer::OpenNIGrabber::cloudCallback, this, _1);
00069   boost::signals2::connection c1 = grabber_->registerCallback (f);
00070   grabber_->start ();
00071 }
00072 
00073 
00075 void
00076 pcl::apps::optronic_viewer::
00077 OpenNIGrabber::
00078 cloudCallback (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr & cloud)
00079 {
00080   //std::cerr << "[grabber thread] cloud received.." << std::endl;
00081   emit cloudReceived (cloud);
00082 }
00083 
00084 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:26:28