[PCL] PCL 예제(1)

PCL_Test.cpp

#include "pch.h"



#define _CRT_SECURE_NO_WARNINGS

#define _SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

 

#include "PCL.h"

 

int main()

{

    pcl::PointCloud<pcl::PointXYZ> cloud;

    cloud.width = 10000;

    cloud.height = 1;

    cloud.is_dense = false;

    cloud.points.resize(cloud.width * cloud.height);

    for (size_t i = 0; i < cloud.points.size(); ++i) {

        cloud.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);

        cloud.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);

        cloud.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);

    }

 
    for (size_t i = 0; i < cloud.points.size(); ++i)

        std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

 

    pcl::visualization::CloudViewer viewer("PCL Viewer");

    viewer.showCloud(cloud.makeShared());

    while (!viewer.wasStopped());

 

    return 0;

}