PointCloudLibrary点云库加载pcd文件_point cloud library android

PointCloudLibrary点云库加载pcd文件

先看下效果，文章末尾后面有源码下载路径

// pclCloud_viewer_71.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
//

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <iostream>


#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace std;
using namespace pcl;
using namespace io;

int user_data;
void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
	viewer.setBackgroundColor(0.0, 0.5, 1.0);
	pcl::PointXYZ o;
	o.x = 1.0;
	o.y = 0;
	o.z = 0;
	viewer.addSphere(o, 0.25, "sphere", 0);
	std::cout << "i only run once" << std::endl;

}

void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
	static unsigned count = 0;
	std::stringstream ss;
	//ss << "Once per viewer loop: " << count++;
	viewer.removeShape("text", 0);
	viewer.addText(ss.str(), 200, 300, "text", 0);
	//FIXME: possible race condition here:
	user_data++;
}

int
main()
{
	//pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
	pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
	pcl::io::loadPCDFile("E:\\PointCloudLibrary\\testSrc\\1 cloud_viewer\\build\\map.pcd", *cloud);
	//pcl::io::loadPCDFile("map.pcd", *cloud);
	pcl::io::loadPCDFile("E:\\PointCloudLibrary\\testSrc\\1 cloud_viewer\\source\\maize.pcd", *cloud);
	//pcl::visualization::CloudViewer viewer("Cloud Viewer");

	showCloud函数是同步的，在此处等待直到渲染显示为止
	//viewer.showCloud(cloud);
	该注册函数在可视化时只调用一次
	//viewer.runOnVisualizationThreadOnce(viewerOneOff);
	该注册函数在渲染输出时每次都调用
	//viewer.runOnVisualizationThread(viewerPsycho);
	//while (!viewer.wasStopped())
	//{
	//	//在此处可以添加其他处理
	//	user_data++;
	//}
	//return 0;

	//改变粒子颜色
	PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);

	pcl::io::loadPCDFile("maize.pcd", *cloud);
	

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

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 255); // green

	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		/*boost::this_thread::sleep(boost::posix_time::microseconds(100000));*/
		std::this_thread::sleep_for(std::chrono::milliseconds(30));
	}
	return 0;
}

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源码下载地址：https://download.csdn.net/download/aoxuestudy/13966344