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#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
using pcl::PointCloud;
using pcl::PointXYZ;
int
main (int , char **)
{
srand (unsigned (time (0)));
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
cloud->points.resize (5);
for (std::size_t i = 0; i < cloud->size (); ++i)
{
(*cloud)[i].x = float (i);
(*cloud)[i].y = float (i / 2);
(*cloud)[i].z = 0.0f;
}
// Start the visualizer
pcl::visualization::PCLVisualizer p ("test_shapes");
int leftPort(0);
int rightPort(0);
p.createViewPort(0, 0, 0.5, 1, leftPort);
p.createViewPort(0.5, 0, 1, 1, rightPort);
p.setBackgroundColor (1, 1, 1);
p.addCoordinateSystem (1.0, "first");
//p.addPolygon (cloud, "polygon");
p.addPolygon<PointXYZ> (cloud, 1.0, 0.0, 0.0, "polygon", leftPort);
p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "polygon", leftPort);
p.addLine<PointXYZ, PointXYZ> ((*cloud)[0], (*cloud)[1], 0.0, 1.0, 0.0, "line", leftPort);
p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 50, "line", leftPort);
p.addSphere<PointXYZ> ((*cloud)[0], 1, 0.0, 1.0, 0.0, "sphere", leftPort);
p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, "sphere", leftPort);
// p.removePolygon ("poly");
p.addText ("text", 200, 200, 1.0, 0, 0, "text", leftPort);
p.addText3D ("text3D", (*cloud)[0], 1.0, 1.0, 0.0, 0.0, "", rightPort);
p.spin ();
p.removeCoordinateSystem ("first", 0);
p.spin ();
p.addCoordinateSystem (1.0, 5, 3, 1, "second");
p.spin ();
p.removeCoordinateSystem ("second", 0);
p.spin ();
p.addText3D ("text3D_to_remove", (*cloud)[1], 1.0, 0.0, 1.0, 0.0, "", rightPort);
p.spin ();
p.removeText3D ("text3D_to_remove", rightPort);
p.spin ();
}
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