RGBD Visualizer

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

/*
 * Sample code for reading point clouds in the RGB-D Object Dataset using the Point Cloud Library
 *
 * Author: Kevin Lai
 */

int user_data;

void
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);
    pcl::PointXYZRGBIM 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++;
}

struct PointXYZRGBIM
{
  union
  {
    struct
    {
      float x;
      float y;
      float z;
      float rgb;
      float imX;
      float imY;
    };
    float data[6];
  };
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZRGBIM,
                                    (float, x, x)
                                    (float, y, y)
                                    (float, z, z)
                                    (float, rgb, rgb)
                                    (float, imX, imX)
                                    (float, imY, imY)
)

int
main (int argc, char** argv)
{
  pcl::PointCloud<PointXYZRGBIM>::Ptr cloud (new pcl::PointCloud<PointXYZRGBIM>);

  if (pcl::io::loadPCDFile<PointXYZRGBIM> ("/home/karan/bowl_1_1_1.pcd", *cloud) == -1) //* load the file
  {
    printf ("Couldn't read file test_pcd.pcd \n");
    return (-1);
  }
  std::cout << "Loaded "
            << cloud->width * cloud->height
            << " data points from test_pcd.pcd with the following fields: "
            << std::endl;

    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    viewer.showCloud(cloud);

    viewer.runOnVisualizationThreadOnce(viewerOneOff);

    viewer.runOnVisualizationThreadOnce(viewerPsycho);

    while (!viewer.wasStopped())
    {
        user_data++;
    }

    return 0;


  /*for (size_t i = 0; i < cloud->points.size (); ++i){
    uint32_t rgb = *reinterpret_cast<int*>(&cloud->points[i].rgb);
    uint8_t r = (rgb >> 16) & 0x0000ff;
    uint8_t g = (rgb >> 8)  & 0x0000ff;
    uint8_t b = (rgb)       & 0x0000ff;
    std::cout << "    " << cloud->points[i].x
              << " "    << cloud->points[i].y
              << " "    << cloud->points[i].z
              << " "    << (int)r
              << " "    << (int)g
              << " "    << (int)b
              << " "    << cloud->points[i].imX
              << " "    << cloud->points[i].imY << std::endl;
  }*/

}