PCL官网例程的相关点云数据

// 显示实例 #include <iostream> #include <pcl/point_types.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/io/io.h> using namespace std; using namespace pcl; using namespace io; int main() { PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>); io::loadPCDFile("/home/ubuntu/桌面/pcd/horse.pcd", *cloud); if (cloud==NULL) { cerr << "can't read file bunny.pcd" << endl; return -1; } boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z"); // 按照z字段进行渲染 viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample cloud"); viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小 while (!viewer->wasStopped()) { viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } return 0; }