PCL中的点云显示[微记]
没什么说的,直接上代码
1.C++内部调用exe显示点云,简洁方便,但是以弹窗的形式
#include <windows.h>
system("C:");
system("cd Program Files\\PCL 1.7.2\\bin");
system("pcl_viewer_debug.exe test1.pcd");
2.真实的调用代码
#include <pcl/visualization/cloud_viewer.h>
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCDReader reader;
if (pcl::io::loadPCDFile("D:\\desktop_tempfile\\pcd\\apple_0.pcd", *cloud))
{
PCL_ERROR ("Couldn't read file pcd \n");
return (false);
}
pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
viewer.showCloud (cloud);
while (!viewer.wasStopped ());
3.视角自动调整[显示更佳]
#include <pcl/visualization/pcl_visualizer.h>
pcl::visualization::PCLVisualizer viewer ("cloud example");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler (cloud, 255, 255, 255);
viewer.addPointCloud (cloud, source_cloud_color_handler, "cloud example");
viewer.addCoordinateSystem (1.0, 0);
viewer.setBackgroundColor(0.05, 0.05, 0.05, 0);
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud example");
while (!viewer.wasStopped ()) {
viewer.spinOnce ();
}