cloud viewer

//
// Created by xuming on 21-5-24.
//

#include <iostream>
#include <pcl-1.11/pcl/io/io.h>
#include <pcl-1.11/pcl/io/pcd_io.h>
#include <pcl-1.11/pcl/visualization/cloud_viewer.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 ("maize.pcd", *cloud);
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    
    viewer.runOnVisualizationThreadOnce (viewerOneOff);

    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
        user_data++;
    }
    return 0;
}