我想显示一个实时过滤的点云，我的意思不是来自 PCD 文件，我一直在尝试操作来自 PCL 文档的示例代码，我是这方面的新手和 C++ 初学者。这是我的代码，它有错误，但我无法理解。:(
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
Class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer () : viewer ("PCL OpenNI Viewer") {}
pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_filtered;
void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
{
if (!viewer.wasStopped()){
pcl::VoxelGrid<pcl::PointCloud<pcl::PointXYZ> sor;
sor.setInputCloud (cloud);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloud_filtered);
viewer.showCloud (cloud_filtered);
}
}
void run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber();
boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
interface->registerCallback (f);
interface->start ();
while (!viewer.wasStopped())
{
boost::this_thread::sleep (boost::posix_time::seconds (1));
}
interface->stop ();
}
pcl::visualization::CloudViewer viewer;
};
int main ()
{
SimpleOpenNIViewer v;
v.run ();
return 0;
}