ubuntu打开pcd文件查看后如何移动

pcd文件内的点云模型？

你可以使用PCL（点云库）或CloudCompare软件来操作打开pcd文件。在CloudCompare中，你可以使用鼠标或键盘上的箭头键来移动点云模型。具体步骤如下：

1. 在打开CloudCompare并加载pcd文件后，选择“Scene”窗口。
2. 点击鼠标右键，选择“锁定细节”。
3. 现在你可以使用鼠标或键盘上的箭头键来移动点云模型。

如果你使用PCL，你需要编写代码来完成这个任务。具体步骤如下：

1. 加载点云文件并创建一个可视化器。
2. 使用可视化器设置相机初始位置。
3. 在循环中，检测键盘事件并移动相机。

下面是一个示例代码片段：

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile ("your_file.pcd", *cloud);

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->addPointCloud<pcl::PointXYZ> (cloud, "point_cloud");
viewer->setCameraPosition(0, 0, -1, 0, -1, 0, 0);

while (!viewer->wasStopped ())
{
  viewer->spinOnce (100);
  boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  
  if (viewer->wasStopped ())
    break;

  if (GetAsyncKeyState(VK_LEFT) & GetAsyncKeyState(VK_SHIFT)) {
    viewer->setCameraPosition(viewer->getCameraPosition()[0] - 0.05, viewer->getCameraPosition()[1], viewer->getCameraPosition()[2], viewer->getCameraPosition()[3], viewer->getCameraPosition()[4], viewer->getCameraPosition()[5], viewer->getCameraPosition()[6], viewer->getCameraPosition()[7], viewer->getCameraPosition()[8]);
  }
  else if (GetAsyncKeyState(VK_RIGHT) & GetAsyncKeyState(VK_SHIFT)) {
    viewer->setCameraPosition(viewer->getCameraPosition()[0] + 0.05, viewer->getCameraPosition()[1], viewer->getCameraPosition()[2], viewer->getCameraPosition()[3], viewer->getCameraPosition()[4], viewer->getCameraPosition()[5], viewer->getCameraPosition()[6], viewer->getCameraPosition()[7], viewer->getCameraPosition()[8]);
  }
  else if (GetAsyncKeyState(VK_UP) & GetAsyncKeyState(VK_SHIFT)) {
    viewer->setCameraPosition(viewer->getCameraPosition()[0], viewer->getCameraPosition()[1] + 0.05, viewer->getCameraPosition()[2], viewer->getCameraPosition()[3], viewer->getCameraPosition()[4], viewer->getCameraPosition()[5], viewer->getCameraPosition()[6], viewer->getCameraPosition()[7], viewer->getCameraPosition()[8]);
  }
  else if (GetAsyncKeyState(VK_DOWN) & GetAsyncKeyState(VK_SHIFT)) {
    viewer->setCameraPosition(viewer->getCameraPosition()[0], viewer->getCameraPosition()[1] - 0.05, viewer->getCameraPosition()[2], viewer->getCameraPosition()[3], viewer->getCameraPosition()[4], viewer->getCameraPosition()[5], viewer->getCameraPosition()[6], viewer->getCameraPosition()[7], viewer->getCameraPosition()[8]);
  }
}