3D点云展示模块

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

int main()
{
    // Loading first scan of room.
    pcl::PointCloud<pcl::PointXYZ>::Ptr target_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("raw.pcd", *target_cloud) == -1)
    {
        PCL_ERROR("Couldn't read file room_scan1.pcd \n");
        return (-1);
    }
    std::cout << "Loaded " << target_cloud->size() << " data points from room_scan1.pcd" << std::endl;

    // Initializing point cloud visualizer
    boost::shared_ptr<pcl::visualization::PCLVisualizer>
        viewer_final(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer_final->setBackgroundColor(0, 0, 0);

    // Coloring and visualizing target cloud (red).
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
        target_color(target_cloud, 255,255,255);
    viewer_final->addPointCloud<pcl::PointXYZ>(target_cloud, target_color, "target cloud");
    viewer_final->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud");

    // Starting visualizer
   /* viewer_final->addCoordinateSystem(1.0, "global");*/
  //  viewer_final->initCameraParameters();

    // Wait until visualizer window is closed.
    while (!viewer_final->wasStopped())
    {
        viewer_final->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    return (0);
}