From 5c8762f1f209e2781184a7816bbd3b6af78c0188 Mon Sep 17 00:00:00 2001
From: 李良庭 <liliangting@shlanbao.cn>
Date: 星期二, 22 四月 2025 15:33:45 +0800
Subject: [PATCH] no message
---
cloud_viewer.vcxproj | 149 ++++++++++++++++++
sampledata.pcd | 0
.gitignore | 186 +++++++++++++++++++++++
cloud_viewer.sln | 31 +++
cloud_viewer.cpp | 50 ++++++
cloud_viewer.vcxproj.filters | 22 ++
README.md | 4
7 files changed, 442 insertions(+), 0 deletions(-)
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1c38a68
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,186 @@
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+build/
+bld/
+[Bb]in/
+[Oo]bj/
+
+# Roslyn cache directories
+*.ide/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+#NUNIT
+*.VisualState.xml
+TestResult.xml
+
+# Build Results of an ATL Project
+[Dd]ebugPS/
+[Rr]eleasePS/
+dlldata.c
+
+*_i.c
+*_p.c
+*_i.h
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*.log
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.svclog
+*.scc
+
+# Chutzpah Test files
+_Chutzpah*
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+*.cachefile
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+
+# TFS 2012 Local Workspace
+$tf/
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+*.DotSettings.user
+
+# JustCode is a .NET coding addin-in
+.JustCode
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# NCrunch
+_NCrunch_*
+.*crunch*.local.xml
+
+# MightyMoose
+*.mm.*
+AutoTest.Net/
+
+# Web workbench (sass)
+.sass-cache/
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.[Pp]ublish.xml
+*.azurePubxml
+## TODO: Comment the next line if you want to checkin your
+## web deploy settings but do note that will include unencrypted
+## passwords
+*.pubxml
+
+# NuGet Packages
+packages/*
+*.nupkg
+## TODO: If the tool you use requires repositories.config
+## uncomment the next line
+#!packages/repositories.config
+
+# Enable "build/" folder in the NuGet Packages folder since
+# NuGet packages use it for MSBuild targets.
+# This line needs to be after the ignore of the build folder
+# (and the packages folder if the line above has been uncommented)
+!packages/build/
+
+# Windows Azure Build Output
+csx/
+*.build.csdef
+
+# Windows Store app package directory
+AppPackages/
+
+# Others
+sql/
+*.Cache
+ClientBin/
+[Ss]tyle[Cc]op.*
+~$*
+*~
+*.dbmdl
+*.dbproj.schemaview
+*.pfx
+*.publishsettings
+node_modules/
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file
+# to a newer Visual Studio version. Backup files are not needed,
+# because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+
+# SQL Server files
+*.mdf
+*.ldf
+
+# Business Intelligence projects
+*.rdl.data
+*.bim.layout
+*.bim_*.settings
+
+# Microsoft Fakes
+FakesAssemblies/
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..0a81b61
--- /dev/null
+++ b/README.md
@@ -0,0 +1,4 @@
+## cloud_viewer
+
+PCL鐐逛簯搴撴煡鐪嬪櫒
+
diff --git a/cloud_viewer.cpp b/cloud_viewer.cpp
new file mode 100644
index 0000000..6303654
--- /dev/null
+++ b/cloud_viewer.cpp
@@ -0,0 +1,50 @@
+锘�#define PCL_SILENCE_MALLOC_WARNING 1
+#include <pcl/visualization/cloud_viewer.h>
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <atomic>
+#include <thread>
+
+std::atomic<int> user_data(0);
+
+void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
+ viewer.setBackgroundColor(0.1, 0.1, 0.1); // 娣辩伆鑳屾櫙鏇存槗瑙傚療
+ viewer.addCoordinateSystem(1.0); // 娣诲姞鍧愭爣绯�
+ viewer.initCameraParameters(); // 鍒濆鍖栫浉鏈哄弬鏁�
+ std::cout << "Initial setup complete." << std::endl;
+}
+
+void viewerPsycho(pcl::visualization::PCLVisualizer& viewer) {
+ static unsigned count = 0;
+ viewer.removeShape("text");
+ viewer.addText("Frame: " + std::to_string(count++), 20, 30, 20, 1, 1, 1, "text");
+ user_data.fetch_add(1, std::memory_order_relaxed);
+}
+
+int main() {
+ // 鍔犺浇鐐逛簯锛堝甫閿欒澶勭悊锛�
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
+ if (pcl::io::loadPCDFile<pcl::PointXYZRGBA>("sampledata.pcd", *cloud) == -1) {
+ std::cerr << "Error: Failed to load PCD file!" << std::endl;
+ return -1;
+ }
+
+ // 鍒涘缓鍙鍖栧櫒
+ pcl::visualization::CloudViewer viewer("Enhanced Cloud Viewer");
+
+ // 鏄剧ず鐐逛簯
+ viewer.showCloud(cloud);
+
+ // 璁剧疆鍥炶皟鍑芥暟
+ viewer.runOnVisualizationThreadOnce(viewerOneOff);
+ viewer.runOnVisualizationThread(viewerPsycho);
+
+ // 涓诲惊鐜�
+ while (!viewer.wasStopped()) {
+ // 绀轰緥澶勭悊閫昏緫锛堢嚎绋嬪畨鍏級
+ user_data.fetch_add(1, std::memory_order_relaxed);
+ std::this_thread::sleep_for(std::chrono::milliseconds(50));
+ }
+
+ return 0;
+}
\ No newline at end of file
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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