1.按y轴渲染
核心代码:
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "y");
viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "v1 cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "v1 cloud");
效果:
2.按x轴渲染
核心代码:
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "x");
viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "v1 cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "v1 cloud");
效果:
3.按z轴渲染
核心代码:
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z");
viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "v1 cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "v1 cloud");
效果:
4.自定义颜色
核心代码:
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> singleColor(cloud, 0, 255, 0);
viewer->addPointCloud<pcl::PointXYZ>(cloud, singleColor, "v1 cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "v1 cloud");
效果: