From 10867a7f2665f3afd91706075f85f4a81a3238e0 Mon Sep 17 00:00:00 2001
From: 李良庭 <liliangting@shlanbao.cn>
Date: 星期二, 22 四月 2025 10:41:53 +0800
Subject: [PATCH] 提交一个测试版本
---
cloud_viewer.vcxproj | 149 +++++++++++++++++++++++++++++
sampledata.pcd | 0
cloud_viewer.sln | 31 ++++++
cloud_viewer.cpp | 67 +++++++++++++
cloud_viewer.vcxproj.filters | 22 ++++
5 files changed, 269 insertions(+), 0 deletions(-)
diff --git a/cloud_viewer.cpp b/cloud_viewer.cpp
new file mode 100644
index 0000000..fd33030
--- /dev/null
+++ b/cloud_viewer.cpp
@@ -0,0 +1,67 @@
+锘�// cloud_viewer.cpp : 姝ゆ枃浠跺寘鍚� "main" 鍑芥暟銆傜▼搴忔墽琛屽皢鍦ㄦ澶勫紑濮嬪苟缁撴潫銆�
+//
+#define PCL_SILENCE_MALLOC_WARNING 1
+#include <pcl/visualization/cloud_viewer.h>
+#include <iostream>
+//#include <pcl/io/io.h>
+#include <pcl/io/pcd_io.h>
+
+int user_data;
+
+void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
+{
+ viewer.setBackgroundColor(0, 0, 0);
+ std::cout << "i only run once" << std::endl;
+
+}
+
+void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
+{
+ static unsigned count = 0;
+ std::stringstream ss;
+ ss << "Once per viewer loop: " << count++;
+ viewer.removeShape("text", 0);
+ viewer.addText(ss.str(), 200, 300, "text", 0);
+
+ //FIXME: possible race condition here:
+ user_data++;
+}
+
+int main()
+{
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
+ pcl::io::loadPCDFile("sampledata.pcd", *cloud);
+
+ pcl::visualization::CloudViewer viewer("Cloud Viewer");
+
+ //blocks until the cloud is actually rendered
+ viewer.showCloud(cloud);
+
+ //use the following functions to get access to the underlying more advanced/powerful
+ //PCLVisualizer
+
+ //This will only get called once
+ viewer.runOnVisualizationThreadOnce(viewerOneOff);
+
+ //This will get called once per visualization iteration
+ 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;
+}
+
+// 杩愯绋嬪簭: Ctrl + F5 鎴栬皟璇� >鈥滃紑濮嬫墽琛�(涓嶈皟璇�)鈥濊彍鍗�
+// 璋冭瘯绋嬪簭: F5 鎴栬皟璇� >鈥滃紑濮嬭皟璇曗�濊彍鍗�
+
+// 鍏ラ棬浣跨敤鎶�宸�:
+// 1. 浣跨敤瑙ｅ喅鏂规璧勬簮绠＄悊鍣ㄧ獥鍙ｆ坊鍔�/绠＄悊鏂囦欢
+// 2. 浣跨敤鍥㈤槦璧勬簮绠＄悊鍣ㄧ獥鍙ｈ繛鎺ュ埌婧愪唬鐮佺鐞�
+// 3. 浣跨敤杈撳嚭绐楀彛鏌ョ湅鐢熸垚杈撳嚭鍜屽叾浠栨秷鎭�
+// 4. 浣跨敤閿欒鍒楄〃绐楀彛鏌ョ湅閿欒
+// 5. 杞埌鈥滈」鐩��>鈥滄坊鍔犳柊椤光�濅互鍒涘缓鏂扮殑浠ｇ爜鏂囦欢锛屾垨杞埌鈥滈」鐩��>鈥滄坊鍔犵幇鏈夐」鈥濅互灏嗙幇鏈変唬鐮佹枃浠舵坊鍔犲埌椤圭洰
+// 6. 灏嗘潵锛岃嫢瑕佸啀娆℃墦寮�姝ら」鐩紝璇疯浆鍒扳�滄枃浠垛��>鈥滄墦寮�鈥�>鈥滈」鐩�濆苟閫夋嫨 .sln 鏂囦欢
diff --git a/cloud_viewer.sln b/cloud_viewer.sln
new file mode 100644
index 0000000..b662107
--- /dev/null
+++ b/cloud_viewer.sln
@@ -0,0 +1,31 @@
+锘�
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.13.35931.197 d17.13
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cloud_viewer", "cloud_viewer.vcxproj", "{E0272AA6-951F-4409-9484-862B68244D12}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|x64 = Debug|x64
+ Debug|x86 = Debug|x86
+ Release|x64 = Release|x64
+ Release|x86 = Release|x86
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {E0272AA6-951F-4409-9484-862B68244D12}.Debug|x64.ActiveCfg = Debug|x64
+ {E0272AA6-951F-4409-9484-862B68244D12}.Debug|x64.Build.0 = Debug|x64
+ {E0272AA6-951F-4409-9484-862B68244D12}.Debug|x86.ActiveCfg = Debug|Win32
+ {E0272AA6-951F-4409-9484-862B68244D12}.Debug|x86.Build.0 = Debug|Win32
+ {E0272AA6-951F-4409-9484-862B68244D12}.Release|x64.ActiveCfg = Release|x64
+ {E0272AA6-951F-4409-9484-862B68244D12}.Release|x64.Build.0 = Release|x64
+ {E0272AA6-951F-4409-9484-862B68244D12}.Release|x86.ActiveCfg = Release|Win32
+ {E0272AA6-951F-4409-9484-862B68244D12}.Release|x86.Build.0 = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+ GlobalSection(ExtensibilityGlobals) = postSolution
+ SolutionGuid = {F87B5978-7413-49DE-AEED-1D6165969DC0}
+ EndGlobalSection
+EndGlobal
diff --git a/cloud_viewer.vcxproj b/cloud_viewer.vcxproj
new file mode 100644
index 0000000..884e7fe
--- /dev/null
+++ b/cloud_viewer.vcxproj
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+ <ItemGroup Label="ProjectConfigurations">
+ <ProjectConfiguration Include="Debug|Win32">
+ <Configuration>Debug</Configuration>
+ <Platform>Win32</Platform>
+ </ProjectConfiguration>
+ <ProjectConfiguration Include="Release|Win32">
+ <Configuration>Release</Configuration>
+ <Platform>Win32</Platform>
+ </ProjectConfiguration>
+ <ProjectConfiguration Include="Debug|x64">
+ <Configuration>Debug</Configuration>
+ <Platform>x64</Platform>
+ </ProjectConfiguration>
+ <ProjectConfiguration Include="Release|x64">
+ <Configuration>Release</Configuration>
+ <Platform>x64</Platform>
+ </ProjectConfiguration>
+ </ItemGroup>
+ <PropertyGroup Label="Globals">
+ <VCProjectVersion>17.0</VCProjectVersion>
+ <Keyword>Win32Proj</Keyword>
+ <ProjectGuid>{e0272aa6-951f-4409-9484-862b68244d12}</ProjectGuid>
+ <RootNamespace>cloudviewer</RootNamespace>
+ <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+ </PropertyGroup>
+ <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+ <ConfigurationType>Application</ConfigurationType>
+ <UseDebugLibraries>true</UseDebugLibraries>
+ <PlatformToolset>v143</PlatformToolset>
+ <CharacterSet>Unicode</CharacterSet>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+ <ConfigurationType>Application</ConfigurationType>
+ <UseDebugLibraries>false</UseDebugLibraries>
+ <PlatformToolset>v143</PlatformToolset>
+ <WholeProgramOptimization>true</WholeProgramOptimization>
+ <CharacterSet>Unicode</CharacterSet>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+ <ConfigurationType>Application</ConfigurationType>
+ <UseDebugLibraries>true</UseDebugLibraries>
+ <PlatformToolset>v143</PlatformToolset>
+ <CharacterSet>Unicode</CharacterSet>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+ <ConfigurationType>Application</ConfigurationType>
+ <UseDebugLibraries>false</UseDebugLibraries>
+ <PlatformToolset>v143</PlatformToolset>
+ <WholeProgramOptimization>true</WholeProgramOptimization>
+ <CharacterSet>Unicode</CharacterSet>
+ </PropertyGroup>
+ <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+ <ImportGroup Label="ExtensionSettings">
+ </ImportGroup>
+ <ImportGroup Label="Shared">
+ </ImportGroup>
+ <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+ <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+ </ImportGroup>
+ <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+ <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+ </ImportGroup>
+ <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+ <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+ </ImportGroup>
+ <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+ <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+ </ImportGroup>
+ <PropertyGroup Label="UserMacros" />
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+ <IncludePath>D:\Program Files\PCL 1.15.0;D:\Program Files\PCL 1.15.0\3rdParty\Boost\include\boost-1_87;D:\Program Files\PCL 1.15.0\3rdParty\Eigen3\include\eigen3;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\include;D:\Program Files\PCL 1.15.0\3rdParty\VTK\include\vtk-9.4;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Include;$(IncludePath)</IncludePath>
+ <LibraryPath>D:\Program Files\PCL 1.15.0\lib;D:\Program Files\PCL 1.15.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.15.0\3rdParty\VTK\lib;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Lib;$(LibraryPath)</LibraryPath>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+ <IncludePath>D:\Program Files\PCL 1.15.0;D:\Program Files\PCL 1.15.0\3rdParty\Boost\include\boost-1_87;D:\Program Files\PCL 1.15.0\3rdParty\Eigen3\include\eigen3;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\include;D:\Program Files\PCL 1.15.0\3rdParty\VTK\include\vtk-9.4;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Include;$(IncludePath)</IncludePath>
+ <LibraryPath>D:\Program Files\PCL 1.15.0\lib;D:\Program Files\PCL 1.15.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.15.0\3rdParty\VTK\lib;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Lib;$(LibraryPath)</LibraryPath>
+ </PropertyGroup>
+ <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+ <ClCompile>
+ <WarningLevel>Level3</WarningLevel>
+ <SDLCheck>true</SDLCheck>
+ <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+ <ConformanceMode>true</ConformanceMode>
+ </ClCompile>
+ <Link>
+ <SubSystem>Console</SubSystem>
+ <GenerateDebugInformation>true</GenerateDebugInformation>
+ </Link>
+ </ItemDefinitionGroup>
+ <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+ <ClCompile>
+ <WarningLevel>Level3</WarningLevel>
+ <FunctionLevelLinking>true</FunctionLevelLinking>
+ <IntrinsicFunctions>true</IntrinsicFunctions>
+ <SDLCheck>true</SDLCheck>
+ <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+ <ConformanceMode>true</ConformanceMode>
+ </ClCompile>
+ <Link>
+ <SubSystem>Console</SubSystem>
+ <EnableCOMDATFolding>true</EnableCOMDATFolding>
+ <OptimizeReferences>true</OptimizeReferences>
+ <GenerateDebugInformation>true</GenerateDebugInformation>
+ </Link>
+ </ItemDefinitionGroup>
+ <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+ <ClCompile>
+ <WarningLevel>Level3</WarningLevel>
+ <SDLCheck>true</SDLCheck>
+ <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;_SCL_SECURE_NO_WARNINGS</PreprocessorDefinitions>
+ <ConformanceMode>true</ConformanceMode>
+ <AdditionalIncludeDirectories>D:\Program Files\PCL 1.15.0\include\pcl-1.15;D:\Program Files\PCL 1.15.0\3rdParty\Eigen3\include\eigen3;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\include\flann;D:\Program Files\PCL 1.15.0\3rdParty\Boost\include\boost-1_87;D:\Program Files\PCL 1.15.0\3rdParty\VTK\include\vtk-9.4</AdditionalIncludeDirectories>
+ </ClCompile>
+ <Link>
+ <SubSystem>Console</SubSystem>
+ <GenerateDebugInformation>true</GenerateDebugInformation>
+ <AdditionalLibraryDirectories>D:\Program Files\PCL 1.15.0\lib;D:\Program Files\PCL 1.15.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Lib;D:\Program Files\PCL 1.15.0\3rdParty\VTK\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+ <AdditionalDependencies>pcl_common.lib;pcl_io.lib;pcl_kdtree.lib;pcl_search.lib;pcl_sample_consensus.lib;pcl_filters.lib;pcl_features.lib;pcl_segmentation.lib;pcl_visualization.lib;flann.lib;flann_s.lib;vtkSys-9.4.lib;vtkCommonCore-9.4.lib;vtkFiltersCore-9.4.lib;vtkRenderingCore-9.4.lib;vtkInteractionStyle-9.4.lib;vtkRenderingOpenGL2-9.4.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+ </Link>
+ </ItemDefinitionGroup>
+ <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+ <ClCompile>
+ <WarningLevel>Level3</WarningLevel>
+ <FunctionLevelLinking>true</FunctionLevelLinking>
+ <IntrinsicFunctions>true</IntrinsicFunctions>
+ <SDLCheck>true</SDLCheck>
+ <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;_SCL_SECURE_NO_WARNINGS</PreprocessorDefinitions>
+ <ConformanceMode>true</ConformanceMode>
+ <AdditionalIncludeDirectories>D:\Program Files\PCL 1.15.0\include\pcl-1.15;D:\Program Files\PCL 1.15.0\3rdParty\Eigen3\include\eigen3;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\include\flann;D:\Program Files\PCL 1.15.0\3rdParty\Boost\include\boost-1_87;D:\Program Files\PCL 1.15.0\3rdParty\VTK\include\vtk-9.4</AdditionalIncludeDirectories>
+ </ClCompile>
+ <Link>
+ <SubSystem>Console</SubSystem>
+ <EnableCOMDATFolding>true</EnableCOMDATFolding>
+ <OptimizeReferences>true</OptimizeReferences>
+ <GenerateDebugInformation>true</GenerateDebugInformation>
+ <AdditionalLibraryDirectories>D:\Program Files\PCL 1.15.0\lib;D:\Program Files\PCL 1.15.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.15.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.15.0\3rdParty\OpenNI2\Lib;D:\Program Files\PCL 1.15.0\3rdParty\VTK\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+ <AdditionalDependencies>pcl_common.lib;pcl_io.lib;pcl_kdtree.lib;pcl_search.lib;pcl_sample_consensus.lib;pcl_filters.lib;pcl_features.lib;pcl_segmentation.lib;pcl_visualization.lib;flann.lib;flann_s.lib;vtkSys-9.4.lib;vtkCommonCore-9.4.lib;vtkFiltersCore-9.4.lib;vtkRenderingCore-9.4.lib;vtkInteractionStyle-9.4.lib;vtkRenderingOpenGL2-9.4.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+ </Link>
+ </ItemDefinitionGroup>
+ <ItemGroup>
+ <ClCompile Include="cloud_viewer.cpp" />
+ </ItemGroup>
+ <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+ <ImportGroup Label="ExtensionTargets">
+ </ImportGroup>
+</Project>
\ No newline at end of file
diff --git a/cloud_viewer.vcxproj.filters b/cloud_viewer.vcxproj.filters
new file mode 100644
index 0000000..bf122c5
--- /dev/null
+++ b/cloud_viewer.vcxproj.filters
@@ -0,0 +1,22 @@
+锘�<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+ <ItemGroup>
+ <Filter Include="婧愭枃浠�">
+ <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+ <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+ </Filter>
+ <Filter Include="澶存枃浠�">
+ <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+ <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+ </Filter>
+ <Filter Include="璧勬簮鏂囦欢">
+ <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+ <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+ </Filter>
+ </ItemGroup>
+ <ItemGroup>
+ <ClCompile Include="cloud_viewer.cpp">
+ <Filter>婧愭枃浠�</Filter>
+ </ClCompile>
+ </ItemGroup>
+</Project>
\ No newline at end of file
diff --git a/sampledata.pcd b/sampledata.pcd
new file mode 100644
index 0000000..5316076
--- /dev/null
+++ b/sampledata.pcd
Binary files differ
--
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