PCL--PCLVisualizer类可视化方法

**代码出处：**http://pointclouds.org/documentation/tutorials/pcl_visualizer.php#pcl-visualizer

/** Filename:   pcl_visualizer_demo.cpp

** Date: 2018-4-19

**Description:

**/

#include "stdafx.h"

#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl\common\common_headers.h>
#include <pcl\features\normal_3d.h>
#include <pcl\io\pcd_io.h>
#include <pcl\visualization\pcl_visualizer.h>
#include <pcl\console\parse.h>

//提示信息
void 
printUsage(const char* progName)
{
	std::cout << "\n\nUsage: " << progName << " [options]\n\n"
		<< "Options:\n"
		<< "------------------------------------------------------\n"
		<< "-h                  this help\n"
		<< "-s                  Simple visualization example\n"
		<< "-c                  Custom colour visualisation example\n"
		<< "-r                  RGB color visualization example\n"
		<< "-n                  Simple visualization example\n"
		<< "-a                  Custom color visualization example\n"
		<< "-v                  Viewports example\n"
		<< "-i                  Interaction Customization example\n"
		<< "\n\n";
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	//创建可视化对象，添加点云，设置点云属性
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cl