test.cpp
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00001 #include <pcl/visualization/pcl_visualizer.h>
00002 #include <pcl/io/pcd_io.h>
00003 
00004 typedef pcl::PointXYZRGB Point;
00005 
00006 int 
00007   main (int argc, char **argv)
00008 {
00009   if (argc < 2)
00010   {
00011     std::cerr << "Needs a PCD file as input." << std::endl;
00012     return (-1);
00013   }
00014 
00015   srand (time (0));
00016 
00017   pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
00018 
00019   pcl::PCDReader pcd;
00020   if (pcd.read (argv[1], *cloud) == -1)
00021     return (-1);
00022 
00023   pcl::visualization::PCLVisualizer p ("test");
00024   p.setBackgroundColor (1, 1, 1);
00025 
00026   // Handler random color demo
00027   {
00028     std::cerr << "PointCloudColorHandlerRandom demo." << std::endl;
00029     pcl::visualization::PointCloudColorHandlerRandom<Point> handler (cloud);
00030     
00031     p.addPointCloud<Point> (cloud, "cloud_random");      // no need to add the handler, we use a random handler by default
00032     p.spin ();
00033     p.removePointCloud ("cloud_random");
00034 
00035     p.addPointCloud (cloud, handler, "cloud_random");
00036     p.spin ();
00037     p.removePointCloud ("cloud_random");
00038   }
00039 
00040   // Handler custom demo
00041   {
00042     std::cerr << "PointCloudColorHandlerCustom demo." << std::endl;
00043     pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 255, 0, 0);
00044     
00045     p.addPointCloud (cloud, handler);             // the default id is "cloud"
00046     p.spin ();
00047     p.removePointCloud ();                        // the default id is "cloud"
00048 
00049     handler = pcl::visualization::PointCloudColorHandlerCustom<Point> (cloud, 255, 0, 0);
00050     p.addPointCloud (cloud, handler, "cloud");
00051     p.spin ();
00052     p.removePointCloud ("cloud");
00053   }
00054 
00055   // Handler RGB demo
00056   {
00057     std::cerr << "PointCloudColorHandlerRGBField demo." << std::endl;
00058     pcl::visualization::PointCloudColorHandlerRGBField<Point> handler (cloud);
00059 
00060     p.addPointCloud (cloud, handler, "cloud_rgb");
00061     p.spin ();
00062     p.removePointCloud ("cloud_rgb");
00063    }
00064   
00065   // Handler generic field demo
00066   {
00067     std::cerr << "PointCloudColorHandlerGenericField demo." << std::endl;
00068     pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_z (cloud, "z");
00069     pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_x (cloud, "x");
00070     
00071     p.addPointCloud (cloud, handler_x, "cloud_x");
00072     p.spin ();
00073     p.removePointCloud ("cloud_x");
00074     
00075     p.addPointCloud (cloud, handler_z, "cloud_z");
00076     p.spin ();
00077     p.removePointCloud ("cloud_z");
00078   }
00079 
00080   p.addCoordinateSystem (0.1);
00081   
00082   // Demonstrate usage of spinOnce()
00083   p.resetStoppedFlag();
00084   while (!p.wasStopped())
00085   {
00086     static int counter = 0;
00087     cout << "spinOnce was called "<<++counter<<" times.\n";
00088     p.spinOnce(1000);  // Give the GUI 1000ms to handle events, then return
00089   }
00090 
00091   //p.removePointCloud ("cloud");
00092   //p.spin ();
00093 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:34:20