Method run

apps/src/openni_octree_compression.cpp:205–229

  }

  void
  run()
  {
    // create a new grabber for OpenNI devices
    pcl::OpenNIGrabber interface;

    // make callback function from member function
    std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
        [this](const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) {
          cloud_cb_(cloud);
        };

    // connect callback function for desired signal. In this case its a point cloud with
    // color values
    boost::signals2::connection c = interface.registerCallback(f);

    // start receiving point clouds
    interface.start();

    while (!outputFile_.fail()) {
      std::this_thread::sleep_for(1s);
    }

    interface.stop();
  }

  pcl::PassThrough<PointXYZRGBA> pass_;
  ostream& outputFile_;