【pcl】根据点云的某一维度的数值进行可视化

根据DON特征进行可视化

//可视化show the differences of curvature with both large and small scale
    if (VISUAL = 1)
    {
        cout << "click q key to quit the visualizer and continue！！" << endl;
        boost::shared_ptr<pcl::visualization::PCLVisualizer> MView(new pcl::visualization::PCLVisualizer("Showing the difference of curvature of two scale"));
        pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointNormal> handler_k(doncloud, "curvature");//PointCloudColorHandlerGenericField方法是将点云按深度值(“x”、“y”、"z"均可)的差异着以不同的颜色。
        MView->setBackgroundColor(1, 1, 1);
        MView->addPointCloud(doncloud, handler_k);
        MView->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3);
        MView->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5);
        MView->spin();
    }

其根据曲率进行可视化

pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointNormal> handler_k(doncloud, "curvature");//PointCloudColorHandlerGenericField方法是将点云按深度值(“x”、“y”、"z"均可)的差异着以不同的颜色。