pcl+opencv+vs2013


#include <pcl/visualization/cloud_viewer.h>

#include <iostream>

#include <pcl/io/io.h>

#include <pcl/io/pcd_io.h>

#include<opencv2\highgui\highgui.hpp>

#include<opencv2\imgproc\imgproc.hpp>

int user_data;

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)

{

viewer.setBackgroundColor (0.0, 0.0, 0.0);

}

void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)

{

user_data = 9;

}

int main ()

{

pcl::PointCloud<pcl::PointXYZRGB> cloud_a;

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

cv::Mat image = cv::imread("1.jpg");

cv::imshow("1", image);

cv::waitKey(0);

if (image.empty())

{

return 0;

}

int rowNumber = image.rows;

int colNumber = image.cols;

cloud_a.width = rowNumber;

cloud_a.height = colNumber;

cloud_a.points.resize(cloud_a.width*cloud_a.height);

cv::Mat_<cv::Vec3b>::iterator it = image.begin<cv::Vec3b>();

cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>();

for(unsigned int i=0; i<cloud_a.points.size(); ++i)

{

cloud_a.points[i].x = 1024*rand()/(RAND_MAX+1.0f);

cloud_a.points[i].y = 1024*rand()/(RAND_MAX+1.0f);

cloud_a.points[i].z = 1024*rand()/(RAND_MAX+1.0f);

cloud_a.points[i].r = (int) (*it)[2];

cloud_a.points[i].g = (int) (*it)[1];

cloud_a.points[i].b = (int) (*it)[0];

++it;

}

*cloud = cloud_a;

pcl::visualization::CloudViewer viewer("Cloud Viewer");

viewer.showCloud(cloud);

viewer.runOnVisualizationThreadOnce (viewerOneOff);

viewer.runOnVisualizationThread (viewerPsycho);

while (!viewer.wasStopped ())

{

user_data = 9;

}

return 0;

}

//release 的依赖项也被添加进去了，造成了imread读不进去图片，一直报错

cv::Mat_<cv::Vec3b>::iterator it = image.begin<cv::Vec3b>();

cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>(); 这两句出错的地方