PCL 点云实时显示

#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <pcl/visualization/cloud_viewer.h>
 

using namespace pcl;

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

 

 

 

 

 

 

 

 

int main()

{

//定义点云数据

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

// 定义读取对象

pcl::PCDReader reader;

// 读取点云文件

reader.read<pcl::PointXYZ> ("test.pcd", *cloud);

while(true)

{

 

       viewer1->removeAllPointClouds();  // 移除当前所有点云
        viewer1->addPointCloud(cloud, "test");  
        viewer1->updatePointCloud(cloud, "test"); 
        viewer1->spinOnce(0.0000000000001);

 

 

}

 

 

 

 

 

 

}