void PCDWriter::onTriggeredLoadNextCloud(){
CLOG(LDEBUG) << "PCDWriter::onTriggeredLoadNextCloud";
in_trigger.read();
if(!in_cloud_xyz.empty())
Write_xyz();
if(!in_cloud_xyzrgb.empty())
Write_xyzrgb();
if(!in_cloud_xyzsift.empty())
Write_xyzsift();
}
void PCDWriter::mainHandler () {
CLOG(LTRACE) << "mainHandler";
// Check working mode - if save flag not set or !auto_trigger - do nothing.
if (!prop_auto_trigger && !save_cloud_flag)
return;
save_cloud_flag = false;
// Try to save the retrieved clouds.
if(!in_cloud_xyz.empty())
Write_xyz();
if(!in_cloud_xyzrgb.empty())
Write_xyzrgb();
if(!in_cloud_xyzsift.empty())
Write_xyzsift();
}
