Start Project for Point Cloud Library

CMakeLists.txt

cmake_minimum_required( VERSION 3.6 )

# Language
enable_language( CXX )

# Compiler Settings
set( CMAKE_CXX_STANDARD 17 )
set( CMAKE_CXX_STANDARD_REQUIRED ON )
set( CMAKE_CXX_EXTENSIONS OFF )

# Project
project( point_cloud LANGUAGES CXX )
add_executable( point_cloud main.cpp )

# (Option) Start-Up Project for Visual Studio
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "point_cloud" )

# Find Package
find_package( PCL 1.12 REQUIRED )

# Set Package to Project
if( PCL_FOUND )
  include_directories( ${PCL_INCLUDE_DIRS} )
  link_directories( ${PCL_LIBRARY_DIRS} )
  add_definitions( ${PCL_DEFINITIONS} )
  target_link_libraries( point_cloud ${PCL_LIBRARIES} )
endif()

main.cpp

#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>

typedef pcl::PointXYZRGBA PointType;

int main( int argc, char* argv[] )
{
    // Load Point Cloud
    pcl::PointCloud<PointType>::Ptr cloud = pcl::make_shared<pcl::PointCloud<PointType>>();
    const std::string file_name = "../cloud.ply";
    const int32_t result = pcl::io::loadPLYFile( file_name, *cloud );
    if( result == -1 ){
        return -1;
    }

    // Create Visualizer
    pcl::visualization::PCLVisualizer::Ptr viewer = pcl::make_shared<pcl::visualization::PCLVisualizer>( "Point Cloud Viewer" );

    // Create Color Handler
    pcl::visualization::PointCloudColorHandler<PointType>::Ptr handler;
    const std::type_info& type = typeid( PointType );
    if( type == typeid( pcl::PointXYZ ) ){
        std::vector<double> color = { 255.0, 255.0, 255.0 };
        handler = pcl::make_shared<pcl::visualization::PointCloudColorHandlerCustom<PointType>>( color[0], color[1], color[2] );
    }
    else if( type == typeid( pcl::PointXYZI ) ){
        handler = pcl::make_shared<pcl::visualization::PointCloudColorHandlerGenericField<PointType>>( "intensity" );
    }
    else if( type == typeid( pcl::PointXYZRGBA ) ){
        handler = pcl::make_shared<pcl::visualization::PointCloudColorHandlerRGBField<PointType>>();
    }

    // Show Point Cloud
    while( !viewer->wasStopped() ){
        if( cloud ){
            handler->setInputCloud( cloud );
            if( !viewer->updatePointCloud( cloud, *handler, "cloud" ) ){
                viewer->addPointCloud( cloud, *handler, "cloud" );
            }
        }
        viewer->spinOnce();
    }

    return 0;
}