附上源码:
#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)
{
viewer.setBackgroundColor (1.0, 0.5, 1.0);
pcl::PointXYZ o;
o.x = 1.0;
o.y = 0;
o.z = 0;
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++;
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 ("E:\\PCL book source\\PCL book\\7\\\7 chapter example code\\1 cloud_viewer\\source\\maize.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//showCloud函数是同步的,在此处等待直到渲染显示为止
viewer.showCloud(cloud);
//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);
while (!viewer.wasStopped ())
{
//在此处可以添加其他处理
user_data++;
}
return 0;
}
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