点云视窗类CloudViewer_“pointclouddialog::vieweroneoff”: 非标准语法;请使用 "&" 来创

#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");
 
	//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;
}