using showView = pcl::visualization::PCLVisualizer;
showView viewer("PCL");
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud(cloud);
while (!viewer.wasStopped())
viewer.spinOnce();
int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(1.0, 0.5, 1.0);//设置背景颜色
pcl::PointXYZ o;//存储球心的位置
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere(o, 0.25, "sphere", 0);//添加球
std::cout << "i only run once" << std::endl;
}
//添加一个刷新显示字符串,在主函数中注册后每帧显示都执行一次
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++;
}
//主函数
int main()
{
using pointT = pcl::PointCloud<pcl::PointXYZ>;
pointT::Ptr cloud(new pointT);
pcl::io::loadPCDFile("C:/Users/BZL/Desktop/rs1.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//该注册函数在可视化时只调用一次
//viewer.runOnVisualizationThreadOnce(viewerOneOff);
//该注册函数在渲染输出时每次都调用
viewer.runOnVisualizationThread(viewerPsycho);
//showCloud函数是同步的,在此处等待直到渲染显示为止
viewer.showCloud(cloud);
while (!viewer.wasStopped())
{
//在此处可以添加其他处理
user_data++;
}
return 0;
}