# -*- coding: utf-8 -*-
# The CloudViewer
# http://pointclouds.org/documentation/tutorials/cloud_viewer.php#cloud-viewer

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

import pcl

# int user_data;
user_data = 0

cdef viewerOneOff (pcl.visualization.PCLVisualizer viewer)
    viewer.set_BackgroundColor (1.0, 0.5, 1.0)
    o = pcl.PointCloud()
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.25, "sphere", 0);
    print('i only run once')


cdef viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
    # static unsigned count = 0;
    count = 0
    print('Once per viewer loop: ' + str(count++))
    viewer.removeShape ('text', 0)
    viewer.addText (ss.str(), 200, 300, 'text', 0)
    user_data++;


# pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
# pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
cloud = pcl.load('./examples/pcldata/tutorials/my_point_cloud.pcd')

# pcl::visualization::CloudViewer viewer("Cloud Viewer");
# //blocks until the cloud is actually rendered
# viewer.showCloud(cloud);
viewer = pcl.visualization.CloudViewing('Cloud Viewer')

# //use the following functions to get access to the underlying more advanced/powerful
# //PCLVisualizer
# //This will only get called once
# viewer.runOnVisualizationThreadOnce (viewerOneOff);
# //This will get called once per visualization iteration
# viewer.runOnVisualizationThread (viewerPsycho);
viewer.runOnVisualizationThreadOnce(viewerOneOff)
viewer.runOnVisualizationThreadOnce(viewerPsycho)

# while (!viewer.wasStopped ())
# {
# //you can also do cool processing here
# //FIXME: Note that this is running in a separate thread from viewerPsycho
# //and you should guard against race conditions yourself...
# user_data++;
# }

flag = True
flag != viewer.wasStopped()
while flag:
    user_data = user_data + 1
end