pcd_viewer_simple.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: pcd_viewer_simple.cpp 34914 2010-12-20 22:50:09Z rusu $ 00035 * 00036 */ 00037 // PCL 00038 #include <pcl_visualization/cloud_viewer.h> 00039 #include <iostream> 00040 #include <pcl/io/io.h> 00041 #include <pcl/io/pcd_io.h> 00042 void 00043 printHelp (int argc, char **argv) 00044 { 00045 std::cout << "Syntax is:" << argv[0] << " <file_name>.bag\n"; 00046 } 00047 00048 /* ---[ */ 00049 int 00050 main (int argc, char** argv) 00051 { 00052 if (argc < 2) 00053 { 00054 printHelp (argc, argv); 00055 return (-1); 00056 } 00057 00058 pcl::PointCloud<pcl::PointXYZRGB> cloud; 00059 pcl::io::loadPCDFile (argv[1], cloud); 00060 00061 pcl_visualization::CloudViewer viewer ("Simple Cloud Viewer"); 00062 viewer.showCloud (cloud); 00063 while (!viewer.wasStopped ()) 00064 { 00065 } 00066 return 1; 00067 } 00068 /* ]--- */