Start VLP16 grabber example

vlp16_grabber_sample.cpp

// VLP16.h
// Grabber Instance
boost::shared_ptr<pcl::VLPGrabber> mVlpGrabber;
// Connection instance for open and close
boost::signals2::connection mConnection;
// Save point cloud data into this pointer
pcl::PointCloud<PointType>::ConstPtr mCloud;
// Mutex
boost::mutex mVLPMutex;

// VLP16.cpp
void VLP16::Start(string ipAddress, unsigned short port){
    // New grabber
    mVlpGrabber = boost::shared_ptr<pcl::VLPGrabber>(new pcl::VLPGrabber(boost::asio::ip::address::from_string(ipAddress), boost::lexical_cast<unsigned short>(port)));
    // Set callback and connection
    boost::function<void(const pcl::PointCloud<PointType>::ConstPtr&)> cb = boost::bind(&VLP16::vlpCallback, this, _1);
    mConnection = mVlpGrabber->registerCallback(cb);
    // Start :)
    mVlpGrabber->start();
}

//Callback
void VLP16::vlpCallback(const pcl::PointCloud<PointType>::ConstPtr& cloudPtr)
{
    // Lock and Copy
    boost::mutex::scoped_lock lock(mVLPMutex);
    mCloud = cloudPtr;
}

void VLP16::Close()
{
    mVlpGrabber->stop();
    mConnection.disconnect();
}