PCL绘图

绘制直线

//参数：点1，点2，R，G，B，名称
viewer->addLine<pcl::PointXYZ>(endpt1, endpt2, 255, 0, 0, "drawline1");

绘制长方体

//绕z轴旋转的角度调整
Eigen::AngleAxisf rotation_vector(boxitor->heading, Eigen::Vector3f(0, 0, 1));
//绘制对象外接长方体
//参数为矩形的顶点，长宽高还有旋转角度以及长方体名称
viewer->addCube(Eigen::Vector3f(boxitor->x, boxitor->y, boxitor->z),
	Eigen::Quaternionf(rotation_vector), boxitor->l, boxitor->w, boxitor->h, boxname);
//设置矩形框只有骨架
viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, boxname);