PCL 库中的pcl::visualization::PCLVisualizer类彩色显示点云

#include <pcl/io/openni_grabber.h>

#include <pcl/visualization/cloud_viewer.h>

#include <pcl/visualization/pcl_visualizer.h>

#include <pcl/io/io.h>

#include <pcl/common/time.h>

#include <pcl/features/integral_image_normal.h>

#include <pcl/features/normal_3d.h>

#include <pcl/ModelCoefficients.h>

#include <pcl/segmentation/planar_region.h>

#include <pcl/segmentation/organized_multi_plane_segmentation.h>

#include <pcl/segmentation/organized_connected_component_segmentation.h>

#include <pcl/filters/extract_indices.h>

typedef pcl::PointXYZRGBA PointT;

class OpenNIOrganizedMultiPlaneSegmentation

{
  

  private:

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;

    pcl::PointCloud<PointT>::ConstPtr prev_cloud;

    boost::mutex