PCD文件读取并显示

前面一段时间一直在写论文，好久都没有进行编程学习，突然觉得无从下手了，翻开以前写的代码练练手，顺便记录下来以便以后自己可以快速熟悉。

一个简单的点云pcd文件读取，并可视化。

/** Filename: pcd_read

 ** Date: 2018-3-27

 **Description: Read PCD files & point cloud visualization

**/

#include "stdafx.h"
#include <iostream>
#include <pcl\io\pcd_io.h>
#include <pcl\point_types.h>
#include <pcl\visualization\cloud_viewer.h>



typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

int _tmain(int argc, _TCHAR* argv[])
{
    PointCloudT::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::loadPCDFile<PointT>("test_pcd.pcd", *cloud )== -1)
    {
        PCL_ERROR("Couldn't read file test_pcd.pcd\n");
        return(-1);
    }
    std::cout << "Loaded "
        << cloud->width*cloud->height
        << " data points from test_pcd.pcd with the following fields: "
        << std::endl;

    pcl::visualization::CloudViewer viewer("viewer");
    viewer.showCloud(cloud);
    while (!viewer.wasStopped())
    {       
    }
    system("pause");
    return 0;
}

可视化过程中还可以采用 pcl::visualization::PCLVisualizer

 boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::
             visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  viewer>setPointCloudRenderingProperties(pcl::visualization::
              PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();