pcl在vs的测试代码

参考代码 

 PCL1.8.0+VS2013安装及配置_4.2108e+06-CSDN博客

#include <pcl/visualization/cloud_viewer.h>  
#include <iostream>  
#include <pcl/io/io.h>  
#include <pcl/io/pcd_io.h>  
  
int user_data;  
  
void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)  
{  
    viewer.setBackgroundColor (1.0, 0.5, 1.0);  
    pcl::PointXYZ o;  
    o.x = 1.0;  
    o.y = 0;  
    o.z = 0;  
    viewer.addSphere (o, 0.25, "sphere", 0);  
    std::cout << "i only run once" << std::endl;  
  
}  
  
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)  
{  
    static unsigned count = 0;  
    std::stringstream ss;  
    ss << "Once per viewer loop: " << count++;  
    viewer.removeShape ("text", 0);  
    viewer.addText (ss.str(), 200, 300, "text", 0);  
  
    //FIXME: possible race condition here:  
    user_data++;  
}  
  
int main ()  
{  
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);  
    pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);  
  
    pcl::visualization::CloudViewer viewer("Cloud Viewer");  
  
      
  
    //blocks until the cloud is actually rendered  
    viewer.showCloud(cloud);  
  
    //use the following functions to get access to the underlying more advanced/powerful  
    //PCLVisualizer  
  
    //This will only get called once  
    viewer.runOnVisualizationThreadOnce (viewerOneOff);  
  
    //This will get called once per visualization iteration  
    viewer.runOnVisualizationThread (viewerPsycho);  
    while (!viewer.wasStopped ())  
    {  
        //you can also do cool processing here  
        //FIXME: Note that this is running in a separate thread from viewerPsycho  
        //and you should guard against race conditions yourself...  
        user_data++;  
    }  
    return 0;  
}