cloud_visualizer.h

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#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>

typedef pcl::visualization::PCLVisualizer visualizer_t;
typedef boost::shared_ptr<visualizer_t> visualizer_ptr_t;
typedef pcl::PointXYZRGB point_t;
typedef pcl::PointCloud<point_t> pointcloud_t;

namespace rc
{

class CloudVisualizer {
  public:

  CloudVisualizer(const char* name);

  void operator()();

  void addCloudToViewer(const pointcloud_t::Ptr pointcloud);

  void updateCloudInViewer(const pointcloud_t::Ptr pointcloud);

  void stop();

  private:

  visualizer_ptr_t viewer_;
  bool stop_;
  boost::mutex viewer_mutex_;
};


}//namespace rc