Go to the documentation of this file.00001 #include <pcl/visualization/cloud_viewer.h>
00002 #include <iostream>
00003 #include <pcl/io/io.h>
00004 #include <pcl/io/pcd_io.h>
00005
00006 int user_data;
00007
00008 void
00009 viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
00010 {
00011 viewer.setBackgroundColor (1.0, 0.5, 1.0);
00012 pcl::PointXYZ o;
00013 o.x = 1.0;
00014 o.y = 0;
00015 o.z = 0;
00016 viewer.addSphere (o, 0.25, "sphere", 0);
00017 std::cout << "i only run once" << std::endl;
00018
00019 }
00020
00021 void
00022 viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
00023 {
00024 static unsigned count = 0;
00025 std::stringstream ss;
00026 ss << "Once per viewer loop: " << count++;
00027 viewer.removeShape ("text", 0);
00028 viewer.addText (ss.str(), 200, 300, "text", 0);
00029
00030
00031 user_data++;
00032 }
00033
00034 int
00035 main ()
00036 {
00037 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
00038 pcl::io::loadPCDFile ("frame1_color.pcd", *cloud);
00039
00040 pcl::visualization::CloudViewer viewer("Cloud Viewer");
00041
00042
00043 viewer.showCloud(cloud);
00044
00045
00046
00047
00048
00049 viewer.runOnVisualizationThreadOnce (viewerOneOff);
00050
00051
00052 viewer.runOnVisualizationThread (viewerPsycho);
00053 while (!viewer.wasStopped ())
00054 {
00055
00056
00057
00058 user_data++;
00059 }
00060 return 0;
00061 }