From 5c8762f1f209e2781184a7816bbd3b6af78c0188 Mon Sep 17 00:00:00 2001
From: 李良庭 <liliangting@shlanbao.cn>
Date: 星期二, 22 四月 2025 15:33:45 +0800
Subject: [PATCH] no message
---
cloud_viewer.cpp | 81 ++++++++++++++++------------------------
1 files changed, 32 insertions(+), 49 deletions(-)
diff --git a/cloud_viewer.cpp b/cloud_viewer.cpp
index fd33030..6303654 100644
--- a/cloud_viewer.cpp
+++ b/cloud_viewer.cpp
@@ -1,67 +1,50 @@
-锘�// cloud_viewer.cpp : 姝ゆ枃浠跺寘鍚� "main" 鍑芥暟銆傜▼搴忔墽琛屽皢鍦ㄦ澶勫紑濮嬪苟缁撴潫銆�
-//
-#define PCL_SILENCE_MALLOC_WARNING 1
+锘�#define PCL_SILENCE_MALLOC_WARNING 1
#include <pcl/visualization/cloud_viewer.h>
-#include <iostream>
-//#include <pcl/io/io.h>
+#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
+#include <atomic>
+#include <thread>
-int user_data;
+std::atomic<int> user_data(0);
-void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
-{
- viewer.setBackgroundColor(0, 0, 0);
- std::cout << "i only run once" << std::endl;
-
+void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
+ viewer.setBackgroundColor(0.1, 0.1, 0.1); // 娣辩伆鑳屾櫙鏇存槗瑙傚療
+ viewer.addCoordinateSystem(1.0); // 娣诲姞鍧愭爣绯�
+ viewer.initCameraParameters(); // 鍒濆鍖栫浉鏈哄弬鏁�
+ std::cout << "Initial setup complete." << std::endl;
}
-void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
-{
+void viewerPsycho(pcl::visualization::PCLVisualizer& viewer) {
static unsigned count = 0;
- std::stringstream ss;
- ss << "Once per viewer loop: " << count++;
- viewer.removeShape("text", 0);
- viewer.addText(ss.str(), 200, 300, "text", 0);
-
- //FIXME: possible race condition here:
- user_data++;
+ viewer.removeShape("text");
+ viewer.addText("Frame: " + std::to_string(count++), 20, 30, 20, 1, 1, 1, "text");
+ user_data.fetch_add(1, std::memory_order_relaxed);
}
-int main()
-{
+int main() {
+ // 鍔犺浇鐐逛簯锛堝甫閿欒澶勭悊锛�
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
- pcl::io::loadPCDFile("sampledata.pcd", *cloud);
+ if (pcl::io::loadPCDFile<pcl::PointXYZRGBA>("sampledata.pcd", *cloud) == -1) {
+ std::cerr << "Error: Failed to load PCD file!" << std::endl;
+ return -1;
+ }
- pcl::visualization::CloudViewer viewer("Cloud Viewer");
+ // 鍒涘缓鍙鍖栧櫒
+ pcl::visualization::CloudViewer viewer("Enhanced Cloud Viewer");
- //blocks until the cloud is actually rendered
+ // 鏄剧ず鐐逛簯
viewer.showCloud(cloud);
- //use the following functions to get access to the underlying more advanced/powerful
- //PCLVisualizer
-
- //This will only get called once
+ // 璁剧疆鍥炶皟鍑芥暟
viewer.runOnVisualizationThreadOnce(viewerOneOff);
-
- //This will get called once per visualization iteration
viewer.runOnVisualizationThread(viewerPsycho);
- while (!viewer.wasStopped())
- {
- //you can also do cool processing here
- //FIXME: Note that this is running in a separate thread from viewerPsycho
- //and you should guard against race conditions yourself...
- user_data++;
+
+ // 涓诲惊鐜�
+ while (!viewer.wasStopped()) {
+ // 绀轰緥澶勭悊閫昏緫锛堢嚎绋嬪畨鍏級
+ user_data.fetch_add(1, std::memory_order_relaxed);
+ std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
+
return 0;
-}
-
-// 杩愯绋嬪簭: Ctrl + F5 鎴栬皟璇� >鈥滃紑濮嬫墽琛�(涓嶈皟璇�)鈥濊彍鍗�
-// 璋冭瘯绋嬪簭: F5 鎴栬皟璇� >鈥滃紑濮嬭皟璇曗�濊彍鍗�
-
-// 鍏ラ棬浣跨敤鎶�宸�:
-// 1. 浣跨敤瑙ｅ喅鏂规璧勬簮绠＄悊鍣ㄧ獥鍙ｆ坊鍔�/绠＄悊鏂囦欢
-// 2. 浣跨敤鍥㈤槦璧勬簮绠＄悊鍣ㄧ獥鍙ｈ繛鎺ュ埌婧愪唬鐮佺鐞�
-// 3. 浣跨敤杈撳嚭绐楀彛鏌ョ湅鐢熸垚杈撳嚭鍜屽叾浠栨秷鎭�
-// 4. 浣跨敤閿欒鍒楄〃绐楀彛鏌ョ湅閿欒
-// 5. 杞埌鈥滈」鐩��>鈥滄坊鍔犳柊椤光�濅互鍒涘缓鏂扮殑浠ｇ爜鏂囦欢锛屾垨杞埌鈥滈」鐩��>鈥滄坊鍔犵幇鏈夐」鈥濅互灏嗙幇鏈変唬鐮佹枃浠舵坊鍔犲埌椤圭洰
-// 6. 灏嗘潵锛岃嫢瑕佸啀娆℃墦寮�姝ら」鐩紝璇疯浆鍒扳�滄枃浠垛��>鈥滄墦寮�鈥�>鈥滈」鐩�濆苟閫夋嫨 .sln 鏂囦欢
+}
\ No newline at end of file
--
Gitblit v1.9.3