本文整理汇总了C++中PCLVisualizer::createViewPort方法的典型用法代码示例。如果您正苦于以下问题：C++ PCLVisualizer::createViewPort方法的具体用法？C++ PCLVisualizer::createViewPort怎么用？C++ PCLVisualizer::createViewPort使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类PCLVisualizer的用法示例。
在下文中一共展示了PCLVisualizer::createViewPort方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main (int argc, char *argv[])
{
if (argc < 3) {
cout << "Enter the two files for registration ..\n";
return -1;
}
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
string sourcefile = argv[1];
string targetfile = argv[2];
CloudPtr cloud1 ( new Cloud );
CloudPtr cloud2 ( new Cloud );
readPCDBinaryFile (sourcefile.c_str (), cloud1);
readPCDBinaryFile (targetfile.c_str (), cloud2);
//pcl::IterativeClosestPointNonLinear <Point, Point> icp;
pcl::IterativeClosestPoint <Point, Point> icp;
icp.setInputSource (cloud1);
icp.setInputTarget (cloud2);
icp.setMaximumIterations (2500);
icp.setTransformationEpsilon (0.0000001);
Eigen::AngleAxisf init_rotation (0.6931, Eigen::Vector3f::UnitZ ());
Eigen::Translation3f init_translation (1.79387, 0.720047, 0);
//Eigen::Matrix4f init_guess = Eigen::Matrix4f::Identity ();
Eigen::Matrix4f init_guess = (init_translation * init_rotation).matrix ();
CloudPtr output (new Cloud);
icp.align (*output, init_guess);
//pcl::transformPointCloud (*cloud1, *output, icp.getFinalTransformation ());
std::cout << "ICP NL has converged:" << icp.hasConverged ()
<< " score: " << icp.getFitnessScore () << std::endl;
cout << "--------- Final transformation ---------------\n";
cout << icp.getFinalTransformation () << "\n\n";
CloudPtr cloud1_ig (new Cloud);
pcl::transformPointCloud (*cloud1, *cloud1_ig, init_guess);
PCLVisualizer* p = new PCLVisualizer (argc, argv, "Registration");
int vp1 = 1;
p->createViewPort (0.0, 0.0, 0.5, 1.0, vp1);
int vp2 = 2;
p->createViewPort (0.5, 0.0, 1.0, 1.0, vp2);
p->setBackgroundColor (113.0/255, 113.0/255, 154.0/255);
int color[3] = { 255, 0, 0};
displayPointCloud (p, cloud1_ig, color, (char *) "opcloud1", vp1);
color[0] = 0; color[1] = 255; color[2] = 0;
displayPointCloud (p, cloud2, color, (char *) "opcloud2", vp1);
color[0] = 0; color[1] = 255; color[2] = 0;
displayPointCloud (p, output, color, (char *) "opcloud11", vp2);
color[0] = 255; color[1] = 0; color[2] = 0;
displayPointCloud (p, cloud2, color, (char *) "opcloud12", vp2);
p->spin ();
return 0;
}