70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
#include <pcl/visualization/cloud_viewer.h>
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#include <iostream>
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#include <pcl/io/io.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/console/parse.h>
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int user_data;
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void
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viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
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{
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viewer.setBackgroundColor (1.0, 0.5, 1.0);
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pcl::PointXYZ o;
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o.x = 1.0;
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o.y = 0;
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o.z = 0;
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viewer.addSphere (o, 0.25, "sphere", 0);
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std::cout << "i only run once" << std::endl;
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}
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void
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viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
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{
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static unsigned count = 0;
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std::stringstream ss;
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ss << "Once per viewer loop: " << count++;
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viewer.removeShape ("text", 0);
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viewer.addText (ss.str(), 200, 300, "text", 0);
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//FIXME: possible race condition here:
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user_data++;
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}
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int
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main (int argc, char** argv)
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{
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if (pcl::console::find_argument (argc, argv, "-f") >= 0)
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{
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cout << "File: " << argv[2] << endl;
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} else {
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cout << "Please input file name using -f example.pcd" << endl;
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return 0;
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}
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pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
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pcl::io::loadPCDFile (argv[2], *cloud);
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pcl::visualization::CloudViewer viewer("Cloud Viewer");
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//blocks until the cloud is actually rendered
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viewer.showCloud(cloud);
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//use the following functions to get access to the underlying more advanced/powerful
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//PCLVisualizer
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//This will only get called once
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viewer.runOnVisualizationThreadOnce (viewerOneOff);
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//This will get called once per visualization iteration
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viewer.runOnVisualizationThread (viewerPsycho);
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while (!viewer.wasStopped ())
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{
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//you can also do cool processing here
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//FIXME: Note that this is running in a separate thread from viewerPsycho
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//and you should guard against race conditions yourself...
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user_data++;
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}
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return 0;
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}
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