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Code: Alles auswählen

#include <QCoreApplication>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <boost/thread/thread.hpp>
#include <stdio.h>

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    pcl::PointCloud<pcl::PointXYZ>::Ptr input(new pcl::PointCloud<pcl::PointXYZ>);
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;

    input->width = 50;
    input->height = 1;
    input->is_dense = false;
    input->points.resize(input->width * input->height);
    
    for (size_t i = 0; i < input->points.size(); ++i) {
        input->points[i].x = 1024 * qrand() / (RAND_MAX + 1.0f);
        input->points[i].y = 1024 * qrand() / (RAND_MAX + 1.0f);
        input->points[i].z = 1024 * qrand() / (RAND_MAX + 1.0f);
    }

    viewer->setBackgroundColor(0,0,0);
    viewer->addPointCloud(input,"sample Cloud");

     while (!viewer->wasStopped ())
     {
       viewer->spinOnce (100);
       boost::this_thread::sleep (boost::posix_time::microseconds (100000));
     }

    pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);

    std::cout << "Fertig" << std::endl;

    return a.exec();
}