// cloud_viewer.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#define PCL_SILENCE_MALLOC_WARNING 1
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#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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int user_data;
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void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
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{
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viewer.setBackgroundColor(0, 0, 0);
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std::cout << "i only run once" << std::endl;
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}
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void 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 main()
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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("sampledata.pcd", *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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// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
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// 调试程序: F5 或调试 >“开始调试”菜单
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// 入门使用技巧:
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// 1. 使用解决方案资源管理器窗口添加/管理文件
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// 2. 使用团队资源管理器窗口连接到源代码管理
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// 3. 使用输出窗口查看生成输出和其他消息
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// 4. 使用错误列表窗口查看错误
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// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
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// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
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