如何实现基于MFC对话框的PCL显示

如何实现基于MFC对话框的PCL显示

void CPCLDialogDlg::OnBnClickedOpenpcd()

{

this->viewer->removeAllPointClouds ();

// TODO: Add your control notification handler code here

static TCHAR BASED_CODE szFilter[] = _T("PCD (*.pcd )|*.pcd||");

CFileDialog cFileDialog(true, NULL, NULL, OFN_HIDEREADONLY | OFN_OVERWRITEPROMPT| OFN_NOCHANGEDIR ,szFilter);

if (cFileDialog.DoModal() == IDOK)

{

/////////////////////////////////////////////////////////////////////////////

//文档名称

std::string filename;

filename = cFileDialog.GetPathName();

//reset data

this->binary_blob.reset();

binary_blob = sensor_msgs::PointCloud2::Ptr (new sensor_msgs::PointCloud2);

// read new data

//*.pcd文件

pcl::PCDReader pcd_reader;

if (pcd_reader.read ((char*)_bstr_t(filename.c_str()), *binary_blob) != 0) //* load the file

{

MessageBox (_T("Couldn't read PCData file!"));

return;

}

}

if (binary_blob == NULL)

{

MessageBox("Please load PCD file firstly!");

return;

}

else

{

//其他句柄

if (pcl::getFieldIndex(*binary_blob, "rgb") > 0)

{

color_Handler = pcl::mfc_visualization::PointCloudColorHandlerRGBField::Ptr

(new pcl::mfc_visualization::PointCloudColorHandlerRGBField (binary_blob));

this->viewer->addPointCloud(binary_blob, color_Handler, sensor_origin, sensor_orientation);

}

else

{

xyz_Handler = pcl::mfc_visualization::PointCloudGeometryHandlerXYZ::Ptr

(new pcl::mfc_visualization::PointCloudGeometryHandlerXYZ (binary_blob));

this->viewer->addPointCloud(binary_blob, xyz_Handler, sensor_origin, sensor_orientation);

}

this->viewer->resetCamera();

}

}

void cpcldialogdlg::onbnclickedopenpcd() { this->viewer->removeallpointclouds (); // todo: add your control notification handler code here static tchar based_code szfilter[] = _t("pcd (*.pcd )|*.pcd||"); cfiledialog cfiledialog(true, null, null, ofn_hidereadonly | ofn_overwriteprompt| ofn_nochangedir ,szfilter); if (cfiledialog.domodal() == idok)