Point cloud visualisation

CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(jeyaram)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (main main.cpp)
target_link_libraries (main ${PCL_LIBRARIES})

main.cpp

#include <iostream>
#include <pcl/io/auto_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/centroid.h>

int 
main (int argc, char ** argv)
{
    if (argc != 2)
    {
        std::cout << "Usage: " << argv[0] << " <input_point_cloud_file>" << std::endl;
        exit (0);
    }

    // Read the input point cloud
    char * point_cloud_path = argv[1];
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::load (point_cloud_path, *cloud))
    {
        std::cout << "Error: Cannot read input file" << std::endl;
        return 0;
    }
    std::cout << "Nb points read: " << cloud->points.size () << std::endl;

    // Compute the centroid of the point cloud
    Eigen::Vector4d centroid;
    pcl::compute3DCentroid<pcl::PointXYZ> (*cloud, centroid);
    std::cout << "centroid: " << centroid[0] << ", "
              << centroid[1] << ", " << centroid[2] << std::endl;

    // Center the point cloud around the origin: easy the handle through the visualiser
    pcl::demeanPointCloud <pcl::PointXYZ, double> (*cloud, centroid, *cloud);

    // Setup the visualisation
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
    viewer->setBackgroundColor (0, 0, 0);
    viewer->addPointCloud<pcl::PointXYZ> (cloud);
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
                                              1);
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR,
                                              1, 1, 1);
    viewer->addCoordinateSystem (1.0);
    viewer->initCameraParameters ();

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

    return 0;
}