程序

// PCL點云數(shù)據(jù)的讀取和顯示
#include <iostream> //標(biāo)準(zhǔn)輸入輸出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的輸入輸出頭文件
#include <pcl/point_types.h> //PCL對各種格式的點的支持頭文件
#include <pcl/visualization/cloud_viewer.h>
 
// 更改背景顏色
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) 
{
    viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);
}

int main(int argc, char** argv)
{
  // 創(chuàng)建點云（指針）
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); 

  // 讀入PCD格式的文件，如果文件不存在，返回-1 
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("/home/xx/下載/rabbit.pcd", *cloud) == -1) 
    {
        PCL_ERROR("Couldn't read file test_pcd.pcd \n"); //文件不存在時，返回錯誤，終止程序。
        return (-1);
    }

  std::cout << "cloud points size= " << cloud->points.size() << std::endl;
  std::cout << "Loaded:" << cloud->width*cloud->height
            << "data points from test_pcd.pcd with the following fields:"
            << std::endl;
  for (size_t i = 0; i < cloud->points.size(); ++i) 
  {
    std::cout << "x= " << cloud->points[i].x 
              << "y= " << cloud->points[i].y 
              << "z= " << cloud->points[i].z 
              << "; " << std::endl;
  }

  
  pcl::visualization::CloudViewer viewer("cloud viewer");
  viewer.showCloud(cloud);

  // 更改背景顏色
  viewer.runOnVisualizationThreadOnce(viewerOneOff);
  // 保證不閃退
  while (!viewer.wasStopped()) 
  {

  }
    

    system("pause");
    return (0);
}

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按R鍵

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參考:

1. https://www.cnblogs.com/baby123/p/10950907.html
2. https://blog.csdn.net/Mr_zhuzj/article/details/81272209