1. 相关说明
2. CMakeLists.txt
# 指定最低的CMAKE版本
CMAKE_MINIMUM_REQUIRED(VERSION 3.22 FATAL_ERROR)
# 创建项目
PROJECT(PCLSamples LANGUAGES CXX)
# 指定CPLUSPLUS标准
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
SET(CMAKE_CXX_STANDARD 14)
SET(CMAKE_C_STANDARD 14)
SET(CMAKE_C_STANDARD_REQUIRED ON)
# 查找第三方依赖库
FIND_PACKAGE(PCL 1.11 REQUIRED)
# 添加可执行文件
ADD_EXECUTABLE(PCLSample src/main.cpp)
# 添加头文件目录
TARGET_INCLUDE_DIRECTORIES(PCLSample PRIVATE ${PCL_INCLUDE_DIRS})
# 添加库目录
TARGET_LINK_DIRECTORIES(PCLSample PRIVATE ${PCL_LIBRARY_DIRS})
# 添加编译器定义
TARGET_COMPILE_DEFINITIONS(PCLSample PRIVATE ${PCL_DEFINITIONS})
# 取消已有的编译器定义
#SET_TARGET_PROPERTIES(PCLSample PROPERTIES COMPILE_FLAGS "/UBOOST_ALL_NO_LIB-DBOOST_ALL_NO_LIB")
# 添加依赖库文件
target_link_libraries(PCLSample PRIVATE ${PCL_LIBRARIES})
3. main.cpp
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer &viewer)
{
viewer.setBackgroundColor(1.0, 0.5, 1.0);
pcl::PointXYZRGB o(0.0f, 0.0f, 0.0f, 255, 0, 0);
viewer.addSphere(o, 0.01, "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);
user_data++;
}
int main()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
if (pcl::io::loadPCDFile("../../data/dragon.pcd", *cloud) == -1)
{
std::cout << "Was not able to open file \"" << std::endl;
return EXIT_FAILURE;
}
pcl::visualization::CloudViewer viewer("Cloud Viewer");
viewer.showCloud(cloud);
viewer.runOnVisualizationThreadOnce(viewerOneOff);
viewer.runOnVisualizationThread(viewerPsycho);
while (!viewer.wasStopped())
{
user_data++;
}
return 0;
}
4. 效果图