3D点云可视化可以通过rviz,cloud_viewer或者PCLVisualizer等方法进行可视化,这些介绍PCLVisualizer的方法。
首先是加载点云并显示:
#include <iostream>
#include <pcl/visualization/pcl_visualizer.h>
int main(int argc, char **argv)
{
int showpoint = 0;
pcl::visualization::PCLVisualizer *viewer;
//boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer = new pcl::visualization::PCLVisualizer("Cluster viewer");
viewer->createViewPort (0.0, 0, 0.5, 1.0, showpoint);
viewer->setBackgroundColor(0, 0, 0);
pcl::PointCloud<pcl::PointXYZ>:: Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile ("/home/victor/catkin_ws/src/chapter6_tutorials/data/cup.pcd", *cloud);
for(int i=0;i<cloud->size();i++)
{
cloud->point