pcl visualizer 相关记录

显示点云固定视角：

viewer->setCameraPosition(7.977472,-528.277413,109.720315,0.078292,0.202092,0.976232,0,0,1);

可以通过以下代码得到相机视角： 

pcl::visualization::Camera camera;
viewer->getCameraParameters(camera);
printf("%lf,%lf,%lf,", camera.pos[0], camera.pos[1], camera.pos[2]);
printf("%lf,%lf,%lf\n", camera.view[0], camera.view[1], camera.view[2]);
printf("%lf,%lf,%lf\n", camera.focal[0], camera.focal[1], camera.focal[2]);

刷新viewer：

viewer->spinOnce(n); //updates the screen once.n表示刷新频率

viewer->removeAllPointClouds();
viewer->removeAllShapes();//清空visualizer

设置点云颜色：

pcl::visualization::PointCloudColorHandlerRandom<pcl::PointXYZ> RandomColor(Cloud);//设置随机颜色
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> Color(Cloud, 0, 255, 255);//设置给定颜色
viewer->addPointCloud<pcl::PointXYZ>(Cloud, Color, "points");