一、代码
C++
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/convolution_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/search/kdtree.h>
void visualize_pcd(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_target)
{
//创建初始化目标
pcl::visualization::PCLVisualizer viewer("registration Viewer");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(cloud_target, 255, 0, 0);
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud(cloud_target, tgt_h, "tgt cloud");
while (!viewer.wasStopped())