//#include<iostream>
//#include<pcl/io/io.h>
//#include<pcl/io/pcd_io.h>
//#include<pcl/visualization/cloud_viewer.h>
//
//int main(int argc, char** argv)
//{
// pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
// pcl::io::loadPCDFile("C:\\Users\\ywluo\\Desktop\\bunny.pcd", *cloud);
// pcl::visualization::CloudViewer viewer("cloud viewer");
// viewer.showCloud(cloud);
//
// while (!viewer.wasStopped())
// {
// ;
// }
//
// return 0;
//
//
//}
//点云可视化
#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(0.0, 0.5, 0.0);
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);
user_data++;
}
int main()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile("C:\\Users\\ywluo\\Desktop\\bunny.pcd", *cloud);
pcl::visualization::CloudViewer viewer("cloud viewer");
viewer.showCloud(cloud);
viewer.runOnVisualizationThreadOnce(viewerOneOff);
viewer.runOnVisualizationThread(viewerPsycho);
while (!viewer.wasStopped())
{
user_data++;
}
return 0;
}