PCL点云库学习笔记（可视化1）
PCL点云库学习笔记（可视化）
- 可视化
-
- 一、CloudViewer
- 二、可视化深度图像
- 三、Visualizer
可视化
一、CloudViewer
1.1 用几行代码可视化应用程序中的某些内容
#include
//
void foo ()
{
pcl::PointCloud::Ptr cloud;
//..........填充点云
//创建一个CloudViewer类的可视化的对象，进行简单的显示
pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
viewer.showCloud (cloud);
while (!viewer.wasStopped ())
{
}
}
1.2 完整的可视化例子
例子中PCLVisualizer``是``CloudViewer的后端，但它在自己的线程中运行。要访问它，必须使用回调函数.
#include
#include
#include
#include
int user_data;
//下面的函数是回调函数，只执行一次，参数是PCLVisualizer可视化对象
//设置可视化背景的颜色，和添加一个圆球几何体
void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor (1.0, 0.5, 1.0);//设置背景颜色
pcl::PointXYZ o;//创建点云中的一个点
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere (o, 0.25, "sphere", 0);//以这个点为圆心创建一个球
std::cout << "i only run once" << std::endl;
}
//在可视化对象中，添加一个刷新显示字符串
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.removeShape ("text", 0);//从屏幕中删除添加的形状
viewer.addText (ss.str(), 200, 300, "text", 0);//在屏幕上加一行文本
//FIXME: possible race condition here:
user_data++;
}
int main ()
{
//创建点云，然后读取PCD文件
pcl::PointCloud::Ptr cloud (new pcl::PointCloud);
pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
//可视化对象
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//停在此处，直到渲染出点云
viewer.showCloud(cloud);
//use the following functions to get access to the underlying more advanced/powerful
//PCLVisualizer
//在可视化的时候，创建球的函数，只调用一次
viewer.runOnVisualizationThreadOnce (viewerOneOff);
//在渲染输出时每一次都调用
viewer.runOnVisualizationThread (viewerPsycho);
while (!viewer.wasStopped ())
{
//you can also do cool processing here
//FIXME: Note that this is running in a separate thread from viewerPsycho
//and you should guard against race conditions yourself...
user_data++;
}
return 0;
}
1.3编译报错
1.编译警告
error C4996: 'std::uninitialized_copy::_Unchecked_iterators::_Deprecate': Call to 'std::uninitialized_copy' with parameters that may be unsafe - this call relies on the caller to check that the passed values are correct. To disable this warning, use -D_SCL_SECURE_NO_WARNINGS. See documentation on how to use Visual C++ 'Checked Iterators
解决：属性-> c/c++ -> 预处理器 -> 预处理器定义 里添加_SCL_SECURE_NO_WARNINGS
2.error LNK2019: 无法解析的外部符号，lib文件未引入，添加
#pragma comment(lib,"User32.lib")
#pragma comment(lib,"ws2_32.lib")
#pragma comment(lib, "gdi32.lib")
3.运行vtk文件库的时候出现错误,分别添加
#include "vtkAutoInit.h" //vtk库
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
二、可视化深度图像
#include
#include
#include
#include
#include
#include
#include
#include "vtkAutoInit.h" //vtk库
typedef pcl::PointXYZ PointType;
//全局参数-
float angular_resolution_x = 0.5f,
angular_resolution_y = angular_resolution_x;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = false;
// 打印帮助
void printUsage(const char* progName)
{
std::cout << "\n\nUsage: " << progName << " [options] \n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-rx angular resolution in degrees (default " << angular_resolution_x << ")\n"
<< "-ry angular resolution in degrees (default " << angular_resolution_y << ")\n"
<< "-c coordinate frame (default " << (int)coordinate_frame << ")\n"
<< "-l live update - update the range image according to the selected view in the 3D viewer.\n"
<< "-h this help\n"
<< "\n\n";
}
//设置视点
void setViewerPose(pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);
Eigen::Vector3f look_at_vector = viewer_pose.rotation() * Eigen::Vector3f(0, 0, 1) + pos_vector;
Eigen::Vector3f up_vector = viewer_pose.rotation() * Eigen::Vector3f(0, -1, 0);
viewer.setCameraPosition(pos_vector[0], pos_vector[1], pos_vector[2],
look_at_vector[0], look_at_vector[1], look_at_vector[2],
up_vector[0], up_vector[1], up_vector[2]);
}
// -----Main-----
int main(int argc, char** argv)
{
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
//解析命令行参数
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
if (pcl::console::find_argument(argc, argv, "-l") >= 0)
{
live_update = true;
std::cout << "Live update is on.\n";
}
if (pcl::console::parse(argc, argv, "-rx", angular_resolution_x) >= 0)
std::cout << "Setting angular resolution in x-direction to " << angular_resolution_x << "deg.\n";
if (pcl::console::parse(argc, argv, "-ry", angular_resolution_y) >= 0)
std::cout << "Setting angular resolution in y-direction to " << angular_resolution_y << "deg.\n";
int tmp_coordinate_frame;
if (pcl::console::parse(argc, argv, "-c", tmp_coordinate_frame) >= 0)
{
coordinate_frame = pcl::RangeImage::CoordinateFrame(tmp_coordinate_frame);
std::cout << "Using coordinate frame " << (int)coordinate_frame << ".\n";
}
angular_resolution_x = pcl::deg2rad(angular_resolution_x);
angular_resolution_y = pcl::deg2rad(angular_resolution_y);
// 读取给点的点云或自行创建随机点云
pcl::PointCloud::Ptr point_cloud_ptr(new pcl::PointCloud);
pcl::PointCloud& point_cloud = *point_cloud_ptr;
Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity());
std::vector pcd_filename_indices = pcl::console::parse_file_extension_argument(argc, argv, "pcd");
if (!pcd_filename_indices.empty())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile(filename, point_cloud) == -1)
{
std::cout << "Was not able to open file \"" << filename << "\".\n";
printUsage(argv[0]);
return 0;
}
scene_sensor_pose = Eigen::Affine3f(Eigen::Translation3f(point_cloud.sensor_origin_[0],
point_cloud.sensor_origin_[1],
point_cloud.sensor_origin_[2])) *
Eigen::Affine3f(point_cloud.sensor_orientation_);
}
else
{
std::cout << "\nNo *.pcd file given => Generating example point cloud.\n\n";
for (float x = -0.5f; x <= 0.5f; x += 0.01f)
{
for (float y = -0.5f; y <= 0.5f; y += 0.01f)
{
PointType point; point.x = x; point.y = y; point.z = 2.0f - y;
point_cloud.points.push_back(point);
}
}
point_cloud.width = (int)point_cloud.points.size(); point_cloud.height = 1;
}
// 从点云创建深度图像对象
float noise_level = 0.0;
float min_range = 0.0f;
int border_size = 1;
pcl::RangeImage::Ptr range_image_ptr(new pcl::RangeImage);
pcl::RangeImage& range_image = *range_image_ptr;
range_image.createFromPointCloud(point_cloud, angular_resolution_x, angular_resolution_y,
pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
//读取点云，并创建深度图像
//创建了两个可视化窗口，第一个是点云的3D可视化窗口，没有颜色信息的
pcl::visualization::PCLVisualizer viewer("3D Viewer");
viewer.setBackgroundColor(1, 1, 1);//设置背景为白色
//把上面从点云中创建的深度图像点云设置为黑色
pcl::visualization::PointCloudColorHandlerCustom range_image_color_handler(range_image_ptr, 0, 0, 0);
//添加深度图像点云，黑色，添加后的点云ID为range image
viewer.addPointCloud(range_image_ptr, range_image_color_handler, "range image");
//设置点云的大小为1
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
//注释的部分用于添加坐标系，对原始点进行可视化
//viewer.addCoordinateSystem (1.0f, "global");
//PointCloudColorHandlerCustom point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters();
setViewerPose(viewer, range_image.getTransformationToWorldSystem());//设置视点参数
// 第二个是深度图像可视化窗口，把range image的深度信息通过颜色进行显示
pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
range_image_widget.showRangeImage(range_image);
//启动主循环以保证可视化代码的有效性，直到窗口关闭才结束循环
while (!viewer.wasStopped())
{
range_image_widget.spinOnce();
viewer.spinOnce();
pcl_sleep(0.01);
if (live_update)
{
scene_sensor_pose = viewer.getViewerPose();
range_image.createFromPointCloud(point_cloud, angular_resolution_x, angular_resolution_y,
pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size);
range_image_widget.showRangeImage(range_image);
}
}
}
调试情况：没有输入点云，程序自行创建了点云
三、Visualizer
PCLVisualizer 是比CloudViewer功能更全的类，例子中示范了这个类的功能。
包括：最基本的点云可视化、带颜色字段的点云可视化、自定义颜色点云可视化、可视化特征、绘制图形、多视窗显示等
#include
#include
#include
#include
#include
#include
#include
#include "vtkAutoInit.h" //vtk库
using namespace std::chrono_literals;
// 帮助信息
void printUsage(const char* progName)
{
std::cout << "\n\nUsage: " << progName << " [options]\n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-h this help\n"
<< "-s Simple visualisation example\n"
<< "-r RGB colour visualisation example\n"
<< "-c Custom colour visualisation example\n"
<< "-n Normals visualisation example\n"
<< "-a Shapes visualisation example\n"
<< "-v Viewports example\n"
<< "-i Interaction Customization example\n"
<< "\n\n";
}
//这个函数实现最基本的点云可视化操作
//显示单个具有xyz信息的点云，改变背景颜色，显示坐标轴
pcl::visualization::PCLVisualizer::Ptr simpleVis(pcl::PointCloud::ConstPtr cloud)
{
// 创建视窗对象，标题为3Dviewer
//将其定义为共享指针，保证在全局中使用
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);//背景为黑色
//添加点云到视窗中，并且定义一个ID号，使得这个点云可以在其他函数中调用
//更新点云使用UpdatePointCloud
viewer->addPointCloud(cloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");//显示点云的尺寸
viewer->addCoordinateSystem(1.0);//添加一个圆柱体坐标轴，圆柱体大小为1
viewer->initCameraParameters();
return (viewer);
}
//实现彩色点云可视化
pcl::visualization::PCLVisualizer::Ptr rgbVis(pcl::PointCloud::ConstPtr cloud)
{
//不同的是，创建带有RGB字段的点云类型
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
//用hander rgb field得到点云的RGB颜色字段，对每个点赋予颜色
pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud);
viewer->addPointCloud(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//自定义点云颜色
pcl::visualization::PCLVisualizer::Ptr customColourVis(pcl::PointCloud::ConstPtr cloud)
{
//窗口和背景色
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
//用自定义颜色处理器hander custom设置颜色，不论什么类型的点云都是可以
//与获取颜色字段不同，函数参数里还设置了颜色
pcl::visualization::PointCloudColorHandlerCustom single_color(cloud, 0, 255, 0);
//把颜色加到点云上
viewer->addPointCloud(cloud, single_color, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//可视化法线等特征
pcl::visualization::PCLVisualizer::Ptr normalsVis(
pcl::PointCloud::ConstPtr cloud, pcl::PointCloud::ConstPtr normals)
{
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud);
viewer->addPointCloud(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
//得到法线之后，就可以显示法线，每10个点显示一个，法线的长度是0.05
viewer->addPointCloudNormals(cloud, normals, 10, 0.05, "normals");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//绘制普通形状
pcl::visualization::PCLVisualizer::Ptr shapesVis(pcl::PointCloud::ConstPtr cloud)
{
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud);
viewer->addPointCloud(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
//增加从点云第一个点到最后一个点的连线
//以第一个点为中心，增加一个半径为0.2的球体，
viewer->addLine(cloud->points[0],cloud->points[cloud->size() - 1], "line");
viewer->addSphere(cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
//绘制一个平面，以平面标准方程来绘制，绘制一个以原点为中心，沿z轴方向的平面
pcl::ModelCoefficients coeffs;
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
viewer->addPlane(coeffs, "plane");
//添加一个锥形
coeffs.values.clear();
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(5.0);
viewer->addCone(coeffs, "cone");
return (viewer);
}
//多视口显示
pcl::visualization::PCLVisualizer::Ptr viewportsVis(
pcl::PointCloud::ConstPtr cloud, pcl::PointCloud::ConstPtr normals1, pcl::PointCloud::ConstPtr normals2)
{
//比较不同搜索半径的 法线显示
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->initCameraParameters();
//创建新的窗口
int v1(0);
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);//x轴的最小最大值，y轴的最小最大值，标识号
viewer->setBackgroundColor(0, 0, 0, v1);//设置背景颜色
viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);//添加一行标签
pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud);
viewer->addPointCloud(cloud, rgb, "sample cloud1", v1);//设置点云颜色
int v2(0);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);
pcl::visualization::PointCloudColorHandlerCustom single_color(cloud, 0, 255, 0);
viewer->addPointCloud(cloud, single_color, "sample cloud2", v2);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");
viewer->addCoordinateSystem(1.0);
viewer->addPointCloudNormals(cloud, normals1, 10, 0.05, "normals1", v1);
viewer->addPointCloudNormals(cloud, normals2, 10, 0.05, "normals2", v2);
return (viewer);
}
unsigned int text_id = 0;
void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer *viewer = static_cast (viewer_void);
if (event.getKeySym() == "r" && event.keyDown())
{
std::cout << "r was pressed => removing all text" << std::endl;
char str[512];
for (unsigned int i = 0; i < text_id; ++i)
{
sprintf(str, "text#%03d", i);
viewer->removeShape(str);
}
text_id = 0;
}
}
void mouseEventOccurred(const pcl::visualization::MouseEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer *viewer = static_cast (viewer_void);
if (event.getButton() == pcl::visualization::MouseEvent::LeftButton &&
event.getType() == pcl::visualization::MouseEvent::MouseButtonRelease)
{
std::cout << "Left mouse button released at position (" << event.getX() << ", " << event.getY() << ")" << std::endl;
char str[512];
sprintf(str, "text#%03d", text_id++);
viewer->addText("clicked here", event.getX(), event.getY(), str);
}
}
pcl::visualization::PCLVisualizer::Ptr interactionCustomizationVis()
{
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addCoordinateSystem(1.0);
viewer->registerKeyboardCallback(keyboardEventOccurred, (void*)viewer.get());
viewer->registerMouseCallback(mouseEventOccurred, (void*)viewer.get());
return (viewer);
}
int main(int argc, char** argv)
{
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
//布尔变量，每个例子都先false
bool simple(false), rgb(false), custom_c(false), normals(false),
shapes(false), viewports(false), interaction_customization(false);
if (pcl::console::find_argument(argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl::console::find_argument(argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage(argv[0]);
return 0;
}
// 创建基础的和颜色的点云
pcl::PointCloud::Ptr basic_cloud_ptr(new pcl::PointCloud);
pcl::PointCloud::Ptr point_cloud_ptr(new pcl::PointCloud);
std::cout << "Generating example point clouds.\n\n";
//创建一个沿z轴的圆柱，颜色红绿蓝渐变
std::uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
//创建基本点basic point，存到点云basic cloud ptr里面
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * std::cos(pcl::deg2rad(angle));
basic_point.y = sinf(pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
//创建带颜色字段的点point，存到点云point cloud ptr
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
std::uint32_t rgb = (static_cast(r) << 16 |static_cast(g) << 8 | static_cast(b));
point.rgb = *reinterpret_cast(&rgb);
point_cloud_ptr->points.push_back(point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
//设置点云个数
basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int)point_cloud_ptr->points.size();
point_cloud_ptr->height = 1;
// 半径0.5邻域计算法线
pcl::NormalEstimation ne;
ne.setInputCloud(point_cloud_ptr);
pcl::search::KdTree::Ptr tree(new pcl::search::KdTree());
ne.setSearchMethod(tree);
pcl::PointCloud::Ptr cloud_normals1(new pcl::PointCloud);
ne.setRadiusSearch(0.05);
ne.compute(*cloud_normals1);
// 半径0.5邻域计算法线
pcl::PointCloud::Ptr cloud_normals2(new pcl::PointCloud);
ne.setRadiusSearch(0.1);
ne.compute(*cloud_normals2);
//看哪一个布尔变量生效了，就执行哪个例子
pcl::visualization::PCLVisualizer::Ptr viewer;
if (simple)
{
viewer = simpleVis(basic_cloud_ptr);
}
else if (rgb)
{
viewer = rgbVis(point_cloud_ptr);
}
else if (custom_c)
{
viewer = customColourVis(basic_cloud_ptr);
}
else if (normals)
{
viewer = normalsVis(point_cloud_ptr, cloud_normals2);
}
else if (shapes)
{
viewer = shapesVis(point_cloud_ptr);
}
else if (viewports)
{
viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
}
else if (interaction_customization)
{
viewer = interactionCustomizationVis();
}
//--------------------
// -----Main loop-----
//--------------------
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
std::this_thread::sleep_for(100ms);
}
}
编译情况
