cloudViewerTest.cpp

#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) {
    // 设置背景色为粉红色
    viewer.setBackgroundColor(1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    //    添加一个圆心为o，半径为0.25m的球体
    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++ << ":" << user_data;
    // 每次刷新时，移除text，添加新的text
    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("/home/peter/Downloads/source/pcl/test/pcl_logo.pcd", *cloud);
    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    //这里会一直阻塞直到点云被渲染
    viewer.showCloud(cloud);

    // 只会调用一次 (非必须)
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    // 每次可视化迭代都会调用一次（频繁调用） (非必须)
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped()) {
        user_data++;
    }
    return 0;
}