可视化展示点云数据—

可视化展示点云数据——PCL

pcd文件的可视化

#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/visualization/cloud_viewer.h>void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{viewer.setBackgroundColor(0, 0, 0); //设置背景颜色为黑色
}bool tool_class::openPcd(std::string pcdFile)
{pcl::console::TicToc time; time.tic();pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);if (-1 == pcl::io::loadPCDFile(pcdFile.c_str(), *cloud)){std::cout << "error input!" << std::endl;return false;}std::cout << cloud->points.size() << std::endl;pcl::visualization::CloudViewer viewer("Cloud Viewer: Rabbit");viewer.showCloud(cloud);viewer.runOnVisualizationThreadOnce(viewerOneOff);cout << time.toc() / 1000 << "s" << endl;system("pause");return true;
}

结果展示
在这里插入图片描述

点云指针类型的可视化（pcl::PointCloudpcl::PointXYZ::Ptr）

#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/visualization/cloud_viewer.h>void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{viewer.setBackgroundColor(0, 0, 0); //设置背景颜色为黑色
}bool tool_class::openPcd(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{pcl::console::TicToc time;time.tic();std::cout << cloud->points.size() << std::endl;pcl::visualization::CloudViewer viewer("Cloud Viewer: Rabbit");viewer.showCloud(cloud);viewer.runOnVisualizationThreadOnce(viewerOneOff);cout << time.toc() / 1000 << "s" << endl;system("pause");return true;
}