initial commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+
+set(PROJECT_NAME box3d)
+
+project(${PROJECT_NAME})
+
+find_package(OpenCV REQUIRED)
+
+
+set(HEADERS
+    )
+set(SOURCES
+    main.cpp)
+
+add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})

main.cpp

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+#include <opencv2/viz.hpp>
+#include <opencv2/viz/viz3d.hpp>
+#include <opencv2/viz/vizcore.hpp>
+
+namespace {
+
+const std::string DEFAULT_POINT_CLOUD_FILE = "../data/carbon_bin_picking_gamma_bgcrop.ply";
+}
+
+int main(int argc, char **argv)
+{
+    cv::viz::Viz3d window("Point cloud");
+    std::string fileName = argc == 2 ? argv[1] : DEFAULT_POINT_CLOUD_FILE;
+
+    auto pointCloud = cv::viz::readCloud(fileName.c_str());
+    cv::viz::WCloud cloudWidget(pointCloud, cv::viz::Color::red());
+    window.showWidget("Point cloud", cloudWidget);
+    window.spin();
+
+    return 0;
+}