view pcd file

cloud_viewer.cpp

// install pcl https://github.com/PointCloudLibrary/pcl
// tutorial http://pointclouds.org/documentation/tutorials/cloud_viewer.php#cloud-viewer

#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <iostream>
// #include <cmath>

int user_data;

void addSphereContinuity(pcl::visualization::PCLVisualizer& viewer,
		float sx,float sy,float ex,float ey){
	pcl::PointXYZ o;
	static char s_cnt=33;
	float xyLen=std::pow((ex-sx),2.0)+std::pow((ey-sy),2.0);
	xyLen = std::sqrt(xyLen);
	float split = 0.3;
	float split_num = xyLen/split;
	std::cout<<xyLen<<std::endl;
	float diffx = (ex-sx)/split_num;
	float diffy = (ey-sy)/split_num;
	for(int cnt=0;cnt<split_num;cnt++){
		if(s_cnt++<125) std::cout<<s_cnt<<std::endl;
		else{
			std::cout<<"up to s_cnt"<<std::endl;
			exit(-1);
		}

		sx += diffx;
		sy += diffy;
		std::cout<<sx<<":"<<sy<<std::endl;

		o.x = sx;
		o.y = sy;
		o.z = 0;
		viewer.addSphere (o, 0.1, &s_cnt, 0);
	}
}

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
	viewer.setBackgroundColor (1.0, 0.5, 1.0);
	// addSphereContinuity(viewer,-1.9,5,-0.9,1.6);
	// addSphereContinuity(viewer,-0.9,1.6,-1.3,1.3);
	// addSphereContinuity(viewer,-1.3,1.3,-0.5,-2.0);
	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 ("myhouse.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;
}

CMakeLists.txt

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})