PCL PCLVisualizer 点云实时显示

#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <pcl/visualization/cloud_viewer.h>
 
using namespace pcl;

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

int main()

{

    //定义点云数据
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

    // 定义读取对象
    pcl::PCDReader reader;

    // 读取点云文件
    reader.read<pcl::PointXYZ> ("test.pcd", *cloud);

    while(true)
    {

        viewer1->removeAllPointClouds();  // 移除当前所有点云
        viewer1->addPointCloud(cloud, "test");  
        viewer1->updatePointCloud(cloud, "test"); 
        viewer1->spinOnce(0.0000000000001);
    }

}