From 725b69528083e43ebc52bf76935596345c762fbb Mon Sep 17 00:00:00 2001
From: Larshg <larshg@gmail.com>
Date: Sat, 2 May 2020 22:27:58 +0200
Subject: [PATCH 1/2] Added unit test where points get removed and
 updatepointcloud is called on visualizer.

---
 test/visualization/test_visualization.cpp | 30 +++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/test/visualization/test_visualization.cpp b/test/visualization/test_visualization.cpp
index a6c4c5c6c86..007d780e2af 100644
--- a/test/visualization/test_visualization.cpp
+++ b/test/visualization/test_visualization.cpp
@@ -60,6 +60,36 @@ PointCloud<PointNormal>::Ptr cloud_with_normals1 (new PointCloud<PointNormal>);
 search::KdTree<PointXYZ>::Ptr tree3;
 search::KdTree<PointNormal>::Ptr tree4;
 
+pcl::PointCloud<pcl::PointXYZRGB>::Ptr getPointCloud(int pointNumber) {
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
+
+  for (int i = 0; i < pointNumber; i++) {
+    pcl::PointXYZRGB pt;
+    pt.x = (double)rand() / RAND_MAX * 10 - 5;
+    pt.y = (double)rand() / RAND_MAX * 10 - 5;
+    pt.z = (double)rand() / RAND_MAX * 10 - 5;
+    cloud->push_back(pt);
+  }
+  return cloud;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+TEST(PCL, PCLVisualizer_updatePointCloud)
+{
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = getPointCloud(3);
+
+  // Setup a basic viewport window
+  pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
+  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> color_green(cloud, 0, 225, 100);
+  viewer->addPointCloud<pcl::PointXYZRGB>(cloud, color_green, "sample cloud");
+
+  // remove points one by one)
+  while (!cloud->empty()) {
+    cloud->erase(cloud->end() - 1);
+    viewer->updatePointCloud(cloud, "sample cloud");
+    viewer->spinOnce(100);
+  }
+}
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 TEST (PCL, PCLVisualizer_camera)
 {

From 20738c43f8624ecb506cde3969b9c1ecfe61fe92 Mon Sep 17 00:00:00 2001
From: Larshg <larshg@gmail.com>
Date: Sun, 3 May 2020 15:15:57 +0200
Subject: [PATCH 2/2] Use cloud generator

---
 test/visualization/test_visualization.cpp | 19 +++++--------------
 1 file changed, 5 insertions(+), 14 deletions(-)

diff --git a/test/visualization/test_visualization.cpp b/test/visualization/test_visualization.cpp
index 007d780e2af..9cd48adefdd 100644
--- a/test/visualization/test_visualization.cpp
+++ b/test/visualization/test_visualization.cpp
@@ -39,6 +39,7 @@
 
 #include <pcl/test/gtest.h>
 
+#include <pcl/common/generate.h>
 #include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/features/normal_3d.h>
@@ -60,23 +61,13 @@ PointCloud<PointNormal>::Ptr cloud_with_normals1 (new PointCloud<PointNormal>);
 search::KdTree<PointXYZ>::Ptr tree3;
 search::KdTree<PointNormal>::Ptr tree4;
 
-pcl::PointCloud<pcl::PointXYZRGB>::Ptr getPointCloud(int pointNumber) {
-  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
-
-  for (int i = 0; i < pointNumber; i++) {
-    pcl::PointXYZRGB pt;
-    pt.x = (double)rand() / RAND_MAX * 10 - 5;
-    pt.y = (double)rand() / RAND_MAX * 10 - 5;
-    pt.z = (double)rand() / RAND_MAX * 10 - 5;
-    cloud->push_back(pt);
-  }
-  return cloud;
-}
-
 ////////////////////////////////////////////////////////////////////////////////
 TEST(PCL, PCLVisualizer_updatePointCloud)
 {
-  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = getPointCloud(3);
+  pcl::common::CloudGenerator<pcl::PointXYZRGB, pcl::common::UniformGenerator<float> > generator;
+
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
+  int result = generator.fill(3, 1, *cloud);
 
   // Setup a basic viewport window
   pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));