PCL 1.8.1 可视化点云数据并标记最大点

#include #include <pcl/point_types.h> #include <pcl/io/ply_io.h> #include <pcl/visualization/cloud_viewer.h>

typedef pcl::PointXYZ PointT;

int main() { // 读取PLY文件 pcl::PointCloud::Ptr cloud(new pcl::PointCloud); pcl::io::loadPLYFile("D:\DIANYUNWENJIANJIA\kruskal_ply.ply", *cloud);

// 寻找骨架中y值最大的连接节点
PointT maxPoint;
float maxY = -std::numeric_limits<float>::infinity();
for (const auto& point : cloud->points) {
    if (point.y > maxY) {
        maxY = point.y;
        maxPoint = point;
    }
}

// 标记最大节点为W
maxPoint.label = 'W';

// 可视化
pcl::visualization::CloudViewer viewer("PCL Viewer");
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud(cloud, "cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 1, 1, "cloud");
// 使用addText3D方法在pcl1.8.1中显示文字
viewer.addText3D("W", maxPoint, 0.1, 1, 1, 1, "label");
viewer.spin();

// 输出PLY文件
pcl::io::savePLYFile("D:\\DIANYUNWENJIANJIA\\Wdianbiaoji_ply.ply", *cloud);

return 0;

}