根据高程值进行渐变色

通过提取Z坐标，最大、最小值，进而进行渐变色的处理。

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std;
int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
	if (pcl::io::loadPCDFile("00003.pcd", *basic_cloud_ptr) < 0)
	{
		PCL_ERROR("Couldn't read file 00003.pcd\n");
		return(-1);
	}//加载点云数据。
	std::cout << "basic_point_ptr大小为：" << basic_cloud_ptr->size() << endl;
	for (int i = 0; i < basic_cloud_ptr->points.size(); i++)
	{

		pcl::PointXYZRGB point;
		point.x = basic_cloud_ptr->points[i].x;
		point.y = basic_cloud_ptr->points[i].y;
		point.z = basic_cloud_ptr->points[i].z;
		point.r = 0;
		point.g = 0;
		point.b = 0;
		point_cloud_ptr->points.push_back(point);
	}
	std::cout << "point_cloud_ptr大小为：" << point_cloud_ptr->size() << endl;
	
	void render(pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr);
	{
		pcl::PointXYZRGB min, max;
		pcl::getMinMax3D(*point_cloud_ptr, min, max);
		std::cout << "Z轴最大值为：" << max.z << endl;
		std::cout << "Z轴最小值为：" << min.z << endl;
		//计算出Z轴的最大值，最小值。
		float L;
		float L_2;
		L = max.z - min.z;
		L_2 = L / 2.0;
		for (size_t i = 0; i < point_cloud_ptr->size(); ++i)//这里先用i的初始值+1，在循环。
		{
			if ((point_cloud_ptr->points[i].z - min.z) < L_2)
			{
				point_cloud_ptr->points[i].r = 0;
				point_cloud_ptr->points[i].g = (255 * ((point_cloud_ptr->points[i].z - min.z) / L_2));
				point_cloud_ptr->points[i].b = (255 * (1 - ((point_cloud_ptr->points[i].z - min.z) / L_2)));//（0，0，225）开始
			}
			else
			{
				point_cloud_ptr->points[i].r = (255 * (point_cloud_ptr->points[i].z - min.z - L_2) / L_2);
				point_cloud_ptr->points[i].g = (255 * (1 - (point_cloud_ptr->points[i].z - min.z - L_2) / L_2));
				point_cloud_ptr->points[i].b = 0;
			}//(cloud->points[i].z - min.z) = L_2时，为（0，225，0）；当(cloud->points[i].z - min.z) = L时，为（225，0，0)
		}
	}
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(point_cloud_ptr);
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		std::this_thread::sleep_for(100ms);
	}//可视化
	return 0;
}

			

	

结果如下图显示，同理也可以根据X、Y轴进行渐变色的处理。