PCL 显示一只小白兔和Eigen矩阵

1， VS2015 PCL1.8.0 相关配置参考 PCL 点云初识

 

再根据debug or realse添加 lib

2，rabbit.pcd在百度云盘 https://pan.baidu.com/s/1Gsnsb4AllcJxjdsYbGw-Cw

3， 显示小白兔的程序

#include
#include//标准C++库中的输入输出类相关头文件。
#include
#include//pcd 读写类相关的头文件。
#include
#include //PCL中支持的点类型头文件。


using namespace std;
using namespace pcl;



void viewerOneOff(visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(0, 0, 0);   //设置背景颜色为黑色
}

int main() {

	PointCloud::Ptr cloud(new PointCloud);

	char strfilepath[256] = "rabbit.pcd";
	if (-1 == io::loadPCDFile(strfilepath, *cloud)) {
		cout << "error input!" << endl;
		return -1;
	}

	cout << cloud->points.size() << endl;
	visualization::CloudViewer viewer("Cloud Viewer: Rabbit");     //创建viewer对象

	viewer.showCloud(cloud);
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	system("pause");
	return 0;
}

4, rabbit

5 ，Eigen

#include   
#include   
using namespace Eigen;
int main(int argc, char* argv[])
{
	MatrixXd m(2, 2);
	m(0, 0) = 83;
	m(1, 0) = 10;
	m(0, 1) = -10;
	m(1, 1) = m(1, 0) + m(0, 1);
	std::cout << "Here is the matrix m:\n" << m << std::endl;
	VectorXd v(2);
	v(0) = 4;
	v(1) = v(0) - 1;
	std::cout << "Here is the vector v:\n" << v << std::endl;

	system("pause");
	return 0;
}