vis_example.cpp

#include <pcl/visualization/cloud_viewer.h>

boost::shared_ptr<pcl::visualization::PCLVisualizer> cloudVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

int main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);

    for(int i=0;i<10;i++)
        for(int j=0;j<10;j++)
            for(int k=0;k<10;k++)
	    {
		pcl::PointXYZ point;
		point.x = i;
		point.y = j;
		point.z = k;
		cloud_ptr->points.push_back (point);
	    }

    cloud_ptr->width = (int) cloud_ptr->points.size ();
    cloud_ptr->height = 1;

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    viewer = cloudVis(cloud_ptr);

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

    return 0;
}