main.cpp

#include <iostream>
#include <string>
#include <vector>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/tim_grabber.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread.hpp>
#include <boost/lexical_cast.hpp>

typedef pcl::PointXYZ PointType;

int main( int argc, char *argv[] )
{
  pcl::PointCloud<PointType>::ConstPtr cloud;

  std::string ipaddress( "192.168.0.1" );
  std::string port( "2112" );

  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer( new pcl::visualization::PCLVisualizer( "Sick Tim Viewer" ) );
  viewer->addCoordinateSystem(1.0, "coordinate");
  viewer->setBackgroundColor(0.0, 0.0, 0.0, 0);
  viewer->initCameraParameters();
  viewer->setCameraPosition(0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0);

  boost::mutex mutex;
  std::function<void( const pcl::PointCloud<PointType>::ConstPtr& )> callback_function =
    [ &cloud, &mutex ]( const pcl::PointCloud<PointType>::ConstPtr& ptr ){
      boost::mutex::scoped_lock lock( mutex );
      cloud = ptr;
    };

  boost::shared_ptr<pcl::TimGrabber> grabber;
  if (!ipaddress.empty() && !port.empty()) {
    grabber = boost::shared_ptr<pcl::TimGrabber>(
        new pcl::TimGrabber(
          boost::asio::ip::address::from_string( ipaddress ),
          boost::lexical_cast<unsigned short>( port ) ) );
  }
  else {
    return 1;
  }

  boost::signals2::connection connection = grabber->registerCallback( callback_function );
  grabber->start();

  while (!viewer->wasStopped()) {
    viewer->spinOnce();

    boost::mutex::scoped_try_lock lock( mutex );
    if (lock.owns_lock() && cloud) {
      if (!viewer->updatePointCloud(cloud, "cloud")) {
        viewer->addPointCloud( cloud, "cloud" );
      }
    }
  }

  grabber->stop();
  if (connection.connected()) {
    connection.disconnect();
  }

  return 0;
}