Function viz_cb

doc/tutorials/content/sources/tracking/tracking_sample.cpp:126–153

visualization's callback function

//visualization's callback function
void
viz_cb (pcl::visualization::PCLVisualizer& viz)
{
  std::lock_guard<std::mutex> lock (mtx_);
    
  if (!cloud_pass_)
    {
      std::this_thread::sleep_for(1s);
      return;
   }

  //Draw downsampled point cloud from sensor    
  if (new_cloud_ && cloud_pass_downsampled_)
    {
      CloudPtr cloud_pass;
      cloud_pass = cloud_pass_downsampled_;
    
      if (!viz.updatePointCloud (cloud_pass, "cloudpass"))
	{
	  viz.addPointCloud (cloud_pass, "cloudpass");
	  viz.resetCameraViewpoint ("cloudpass");
	}
      bool ret = drawParticles (viz);
      if (ret)
        drawResult (viz);
    }
  new_cloud_ = false;
}

//OpenNI Grabber's cloud Callback function
void