cloudviewer.cpp

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
    
int user_data;
    
void 
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (79, 79, 79);
    
    
}
    
void 
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
   
}
    
int 
main ()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("table_scene_lms400（滤波）.pcd", *cloud);
    
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    
    //blocks until the cloud is actually rendered
    viewer.showCloud(cloud);
    
    //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);
    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++;
    }
    return 0;
}