PCL简单点云可视化示例代码和点云文件

#include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <vtkAutoInit.h> VTK_MODULE_INIT(vtkRenderingOpenGL) VTK_MODULE_INIT(vtkInteractionStyle) 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("milk.pcd", *cloud); pcl::io::loadPCDFile("maize.pcd", *cloud); pcl::visualization::CloudViewer viewer("Cloud Viewer"); //showCloud函数是同步的，在此处等待直到渲染显示为止 viewer.showCloud(cloud); //该注册函数在可视化时只调用一次 viewer.runOnVisualizationThreadOnce(viewerOneOff); //该注册函数在渲染输出时每次都调用 viewer.runOnVisualizationThread(viewerPsycho); while (!viewer.wasStopped()) { //在此处可以添加其他处理 user_data++; } system("Pause"); return 0; }