PCL point cloud visualization (no VTK)

tags: PCL learning Visualize c++ Video processing

purpose

Convearter from a click cloud.

Code

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

using namespace std;

typedef pcl::PointXYZRGBA PointType;

int main() {
	pcl::PCDReader reader;
	Pcl :: PointCloud <PCL :: Pointxyz> :: Ptr Cloud (New Pcl :: PointCloud <PCL :: Pointxyz>); // Point Cloud to Show
	 Boost :: Shared_Ptr <PCL :: Visualization :: PCLVISUALIZER> M_VIEWER; // Window

	 // read the file
	reader.read("D:/ground_1.pcd", *cloud);

	 // Display window initialization
	m_viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
	 m_viewer-> setbackgroundcolor (0, 0, 0); // Set background color
	m_viewer->initCameraParameters();
	 m_viewer-> addcoordinateSystem (); // Add red green blue coordinate axis
	m_viewer->createInteractor();

	
	while (!m_viewer->wasStopped()) {
		m_viewer->spinOnce(1);
		 If (! m_viewer-> updatePointCloud (Cloud-> Makeshared (), "Cloud")) {// pointcloud_xyzrgba is a pointer type, cannot be used (.) operator
			m_viewer->addPointCloud(cloud->makeShared(), "cloud");
		}
	}

	system("pause");
	return 0;
}

Result (origin cloud, no sample)

：217088

Pay attention

When the number of points in the point cloud is much longer, it takes a long time. You can first sample the point cloud and then display it.

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