using showView = pcl::visualization::PCLVisualizer;
showView viewer("PCL");
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud(cloud);
while (!viewer.wasStopped())
viewer.spinOnce();
int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(1.0, 0.5, 1.0);//設置背景顏色
pcl::PointXYZ o;//存儲球心的位置
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere(o, 0.25, "sphere", 0);//添加球
std::cout << "i only run once" << std::endl;
}
//添加一個刷新顯示字符串,在主函數中註冊後每幀顯示都執行一次
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++;
}
//主函數
int main()
{
using pointT = pcl::PointCloud<pcl::PointXYZ>;
pointT::Ptr cloud(new pointT);
pcl::io::loadPCDFile("C:/Users/BZL/Desktop/rs1.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//該註冊函數在可視化時只調用一次
//viewer.runOnVisualizationThreadOnce(viewerOneOff);
//該註冊函數在渲染輸出時每次都調用
viewer.runOnVisualizationThread(viewerPsycho);
//showCloud函數是同步的,在此處等待直到渲染顯示爲止
viewer.showCloud(cloud);
while (!viewer.wasStopped())
{
//在此處可以添加其他處理
user_data++;
}
return 0;
}