upload fifth chapter

Signed-off-by: Hao Guo <[email protected]>

第五章/1 cloud_viewer/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+project(cloud_viewer)
+find_package(PCL 1.2 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_executable (cloud_viewer cloud_viewer.cpp)
+target_link_libraries (cloud_viewer ${PCL_LIBRARIES})

第五章/1 cloud_viewer/source/cloud_viewer.cpp

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+#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 (1.0, 0.5, 1.0);
+ pcl::PointXYZ o;
+ o.x = 1.0;
+ o.y = 0;
+ o.z = 0;
+ viewer.addSphere (o, 0.25, "sphere", 0);
+ std::cout << "i only run once" << std::endl;
+
+}
+
+void 
+viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
+{
+ static unsigned count = 0;
+ std::stringstream ss;
+ ss << "Once per viewer loop: " << count++;
+ viewer.removeShape ("text", 0);
+ viewer.addText (ss.str(), 200, 300, "text", 0);
+ //FIXME: possible race condition here:
+ user_data++;
+}
+
+int 
+main ()
+{
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
+ pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
+ pcl::visualization::CloudViewer viewer("Cloud Viewer"); 
+ //showCloud函数是同步的，在此处等待直到渲染显示为止
+ viewer.showCloud(cloud);
+ //该注册函数在可视化时只调用一次
+ viewer.runOnVisualizationThreadOnce (viewerOneOff);
+ //该注册函数在渲染输出时每次都调用
+ viewer.runOnVisualizationThread (viewerPsycho);
+ while (!viewer.wasStopped ())
+ {
+ //在此处可以添加其他处理
+ user_data++;
+ }
+ return 0;
+}