一、代码

C++

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <random>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
void visualize_pcd(pcl::PointCloud<pcl::PointXYZ>::Ptr icp_result, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_target)
{//创建初始化目标pcl::visualization::PCLVisualizer viewer("registration Viewer");pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> final_h(icp_result, 0, 255, 0);pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(cloud_target, 255, 0, 0);viewer.setBackgroundColor(0, 0, 0);viewer.addPointCloud(cloud_target, tgt_h, "tgt cloud");viewer.addPointCloud(icp_result, final_h, "final cloud");while (!viewer.wasStopped()){viewer.spinOnce(10