以下附上可视化点云的cloudviewer.cpp代码:
#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);//设置背景颜色
pcl::PointXYZ o;//存储球心的位置
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere (o, 0.25, "sphere", 0);//添加球
std::cout << "i only run once" << std::endl;
}
//添加一个刷新显示字符串,在主函数中注册后每帧显示都执行一次
void
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.r