PCL 1.6--- point cloud viewer

PCL.h 文件

//#pragma once

#ifndef __SLP_H
#define __SLP_H

#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl/registration/icp.h>
#include <pcl/io/ply_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/vtk_io.h>

##include <ctime>
#include <vector>
using namespace pcl;

const int SIZE_ROWS = 1024;
const int SIZE_COLS = 1280;

void viewcloud(char *filename);
void writecloudXYZRGB(char *filename);
void writecloudXYZ(char *filename);
void viewerOneOff (pcl::visualization::PCLVisualizer& viewer);
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer);
float colortable[64*3]=
{    0 ,        0,  143.4375,
0 ,        0 , 159.3750,
0  ,       0 , 175.3125,
0  ,       0 , 191.2500,
0  ,       0 , 207.1875,
0 ,        0 , 223.1250,
0 ,        0 , 239.0625,
0 ,        0 , 255.0000,
0 ,  15.9375 , 255.0000,
0 ,  31.8750,  255.0000,
0 ,  47.8125 , 255.0000,
0 ,  63.7500,  255.0000,
0 ,  79.6875 , 255.0000,
0 ,  95.6250 , 255.0000,
0,  111.5625 , 255.0000,
0 , 127.5000 , 255.0000,
0 , 143.4375 , 255.0000,
0,  159.3750 , 255.0000,
0,  175.3125 , 255.0000,
0 , 191.2500 , 255.0000,
0 , 207.1875 , 255.0000,
0,  223.1250,  255.0000,
0 , 239.0625 , 255.0000,
0 , 255.0000,  255.0000,
15.9375 , 255.0000 , 239.0625,
31.8750 , 255.0000