点云视窗类CloudViewer，显示一个圆球、玉米的点云、动态刷新的字符串

首先保证你的文件夹下有三个文件cloud_viewer.cpp、CMakeLists.txt、my_point_cloud.pcd

1、Cloud_Viewer.cpp代码：

#include <vtkAutoInit.h>       
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType); 

#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 (1.0f, 0.5f, 1.0f);
    pcl::PointXYZ o;
    o.x = 0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.2, "sphere", 0);
    std::cout << "i only run once" << std::endl;
}

void 
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape ("text", 0);
    viewer.addText (ss.str(), 200, 300, "text", 0);
    //FIXME: possible race condition here:
    user_data++;
}    

int 
main ()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
    pcl::visualization::CloudViewer viewer("Cloud Viewer");    
    //showCloud函数是同步的，在此处等待直到渲染显示为止
    viewer.showCloud(cloud);
    //该注册函数在可视化时只调用一次
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    //该注册函数在渲染输出时每次都调用
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
    //在此处可以添加其他处理
    user_data++;
    }
    return 0;
}

2、CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(cloud_viewer)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (cloud_viewer cloud_viewer.cpp)
target_link_libraries (cloud_viewer ${PCL_LIBRARIES})

3、执行显示