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# -*- 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
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