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#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
using Point = pcl::PointXYZRGB;
int
main (int argc, char **argv)
{
if (argc < 2)
{
std::cerr << "Needs a PCD file as input." << std::endl;
return (-1);
}
srand (time (0));
pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
pcl::PCDReader pcd;
if (pcd.read (argv[1], *cloud) == -1)
return (-1);
pcl::visualization::PCLVisualizer p ("test");
p.setBackgroundColor (1, 1, 1);
// Handler random color demo
{
std::cerr << "PointCloudColorHandlerRandom demo." << std::endl;
pcl::visualization::PointCloudColorHandlerRandom<Point> handler (cloud);
p.addPointCloud<Point> (cloud, "cloud_random"); // no need to add the handler, we use a random handler by default
p.spin ();
p.removePointCloud ("cloud_random");
p.addPointCloud (cloud, handler, "cloud_random");
p.spin ();
p.removePointCloud ("cloud_random");
}
// Handler custom demo
{
std::cerr << "PointCloudColorHandlerCustom demo." << std::endl;
pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 255, 0, 0);
p.addPointCloud (cloud, handler); // the default id is "cloud"
p.spin ();
p.removePointCloud (); // the default id is "cloud"
handler = pcl::visualization::PointCloudColorHandlerCustom<Point> (cloud, 255, 0, 0);
p.addPointCloud (cloud, handler, "cloud");
p.spin ();
p.removePointCloud ("cloud");
}
// Handler RGB demo
{
std::cerr << "PointCloudColorHandlerRGBField demo." << std::endl;
pcl::visualization::PointCloudColorHandlerRGBField<Point> handler (cloud);
p.addPointCloud (cloud, handler, "cloud_rgb");
p.spin ();
p.removePointCloud ("cloud_rgb");
}
// Handler generic field demo
{
std::cerr << "PointCloudColorHandlerGenericField demo." << std::endl;
pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_z (cloud, "z");
pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_x (cloud, "x");
p.addPointCloud (cloud, handler_x, "cloud_x");
p.spin ();
p.removePointCloud ("cloud_x");
p.addPointCloud (cloud, handler_z, "cloud_z");
p.spin ();
p.removePointCloud ("cloud_z");
}
p.addCoordinateSystem (0.1);
// Demonstrate usage of spinOnce()
p.resetStoppedFlag();
while (!p.wasStopped())
{
static int counter = 0;
std::cout << "spinOnce was called "<<++counter<<" times.\n";
p.spinOnce(1000); // Give the GUI 1000ms to handle events, then return
}
//p.removePointCloud ("cloud");
//p.spin ();
}
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