void
pcl::ihs::InHandScanner::startGrabberImpl ()
{
std::unique_lock<std::mutex> lock (mutex_);
starting_grabber_ = true;
lock.unlock ();
try
{
grabber_ = GrabberPtr (new Grabber ());
}
catch (const pcl::PCLException& e)
{
std::cerr << "ERROR in in_hand_scanner.cpp: " << e.what () << std::endl;
exit (EXIT_FAILURE);
}
lock.lock ();
if (destructor_called_) return;
boost::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
new_data_connection_ = grabber_->registerCallback (new_data_cb);
grabber_->start ();
starting_grabber_ = false;
}
//---------
bool DiskStreamer::getHasGrabber() const {
return this->grabber != GrabberPtr();
}
//---------
void DiskStreamer::clearGrabber() {
if (this->getHasGrabber()) {
this->grabber->onNewFrameReceived.removeListeners(this);
this->grabber = GrabberPtr();
}
}
