void runViewer()
{
viewer = boost::shared_ptr<pcl::visualization::PCLVisualizer>(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0.3, 0.3, 0.3);
viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgbInit(cloudInit);
viewer->addPointCloud<pcl::PointXYZRGB>(cloudInit, rgbInit, "cloudInit");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloudInit");
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud");
viewer->addCoordinateSystem(0.1);
viewer->initCameraParameters();
viewer->setCameraPosition(0,0,-1,0,0,0,-1,0,0);
viewer->setCameraPosition(0,0,-1,0,0,0,0,-1,0);
initialized = true;
while (!viewer->wasStopped() && !doStopViewer)
{
if (cloudUpdated) {
cloudMutex.lock();
viewer->updatePointCloud(cloud, "cloud");
Eigen::Affine3f poseAff(cloudPose);
viewer->updatePointCloudPose("cloud", poseAff);
viewer->addCoordinateSystem(0.1, poseAff);
cloudUpdated = false;
cloudMutex.unlock();
}
if (cloudInitUpdated) {
cloudMutex.lock();
//viewer->updatePointCloud(cloudInit, "cloudInit");
cloudInitUpdated = false;
cloudMutex.unlock();
}
viewer->spinOnce(1);
boost::this_thread::sleep(boost::posix_time::milliseconds(1));
}
//viewer->close();
}
int main()
{
// Message
char morseMessage[] = "MICRO CONTROLLER CENTRAL";
// Initializers
gpioInit();
timerInit();
rgbInit(PTB18, PTB19, PTD1);
morseInit();
// Do something
morseSetTempo(100);
morseSendMessage(morseMessage);
// Test access control
morseRemoveCriticalSafety();
while(1);
return 0;
}