PCL 测试文件2018-4-11

#include <pcl/visualization/cloud_viewer.h> 
#include <iostream> 
#include <pcl/io/io.h> 
#include <pcl/io/pcd_io.h> 

int user_data;

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
 viewer.setBackgroundColor(1.0, 0.5, 1.0);
 pcl::PointXYZ o;
 o.x = 1.0;
 o.y = 0;
 o.z = 0;
 viewer.addSphere(o, 0.25, "sphere", 0);
 std::cout << "i only run once" << std::endl;

}

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++;
}

int main()
{
 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
 pcl::io::loadPCDFile("12.pcd", *cloud);

 pcl::visualization::CloudViewer viewer("Cloud Viewer");

 //blocks until the cloud is actually rendered 
 viewer.showCloud(cloud);

 //use the following functions to get access to the underlying more advanced/powerful 
 //PCLVisualizer 

 //This will only get called once 
 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++;
 }
 return 0;
}