PCD可视化（C++）

主程序

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <thread> // 添加此行

int main(int argc, char** argv) {
    if (argc < 2) {
        std::cerr << "Usage: " << argv[0] << " <path-to-pcd-file>" << std::endl;
        return -1;
    }

    std::string pcd_file = argv[1];

    // 创建点云对象
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    // 加载 PCD 文件
    if (pcl::io::loadPCDFile<pcl::PointXYZ>(pcd_file, *cloud) == -1) {
        PCL_ERROR("Couldn't read file %s \n", pcd_file.c_str());
        return -1;
    }

    // 创建 PCL 可视化对象
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->setBackgroundColor(0, 0, 0);
    viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();

    // 运行可视化
    while (!viewer->wasStopped()) {
        viewer->spinOnce(100);
        std::this_thread::sleep_for(std::chrono::milliseconds(100)); // 使用 std::this_thread::sleep_for
    }

    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(PCDViewer)

# 查找 PCL 库
find_package(PCL 1.8 REQUIRED)

# 包含 PCL 头文件
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# 添加可执行文件
add_executable(pcd_viewer main.cpp)

# 链接 PCL 库
target_link_libraries(pcd_viewer ${PCL_LIBRARIES})

编译

# 创建并进入构建目录
mkdir build
cd build

# 运行 cmake
cmake ..

# 编译程序
make

# 运行程序
./pcd_viewer <path-to-your-pcd-file>

运行程序

./pcd_viewer GlobalMap.pcd