PCL随笔

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１、创建点云数据指针变量，头文件:

#include <pcl/point_cloud.h> 
#include <pcl/point_types.h>

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("~/filename.pcd", *cloud);

２、创建点云视窗

#include <pcl/visualization/pcl_visualizer.h>

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;

３、把点云显示在视窗中

viewer->addPointCloud<pcl::PointXYZ>(cloud, "cloud");
//设置点云大小
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

4、连线（在点之间添加线段）

for (int i = 0; i <= cloud->size() - 1; i++){
        if (i == cloud->size() - 1){
            viewer->addLine(cloud->points[i], cloud->points[0], 1, 0, 0, std::to_string(-(i+1)));
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 2, std::to_string(-(i+1)));
            continue;
        }
        viewer->addLine(cloud->points[i], cloud->points[i+1], 1, 0, 0, std::to_string(-(i+1)));
        viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 2, std::to_string(-(i+1)));
    }

首尾相连

viewer->addLine(cloud->points[a], cloud->points[b], R, G, B, "id"); 

在点a和点b之间画一条线段，颜色R, G, B，和面的字符串是id；

viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 2, “id”);

设置线段"id"的粗细