Method run

tools/oni_viewer_simple.cpp:118–140

* @brief starts the main loop */

   * @brief starts the main loop
   */
  void
  run()
  {
    //pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id_, pcl::OpenNIGrabber::OpenNI_QQVGA_30Hz, pcl::OpenNIGrabber::OpenNI_VGA_30Hz);

    std::function<void (const CloudConstPtr&) > f = [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };

    boost::signals2::connection c = grabber_.registerCallback (f);

    grabber_.start();

    while (!viewer.wasStopped ())
    {
      if (cloud_)
      {
        FPS_CALC ("drawing");
        //the call to get() sets the cloud_ to null;
        viewer.showCloud (getLatestCloud (), "cloud");
      }
    }

    grabber_.stop();
  }

  pcl::visualization::CloudViewer viewer;
  pcl::ONIGrabber& grabber_;