1、用到的头文件:
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
VTK_MODULE_INIT(vtkInteractionStyle)
VTK_MODULE_INIT(vtkRenderingFreeType)
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h> //读取PCD文件
#include <pcl/io/vtk_lib_io.h> //读取Ploy文件
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
2、基本的点云可视化操作
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
// -----Open 3D viewer and add point cloud
//创建视窗对象并给标题栏设置一个名称“3D Viewer”并将它设置为boost::shared_ptr智能共享指针,这样可以保证指针在程序中全局使用,而不引起内存错误
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
//设置视窗的背景色,可以任意设置RGB的颜色,这里是设置为黑色
viewer->setBackgroundColor(0, 0, 0);
/*这是最重要的一行,我们将点云添加到视窗对象中,并定一个唯一的字符串作为ID 号,利用此字符串保证在其他成员中也能
标志引用该点云,多次调用addPointCloud可以实现多个点云的添加,每调用一次就会创建一个新的ID号,如果想更新一个
已经显示的点云,必须先调用removePointCloud(),并提供需要更新的点云ID 号*/
viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
//用于改变显示点云的尺寸,可以利用该方法控制点云在视窗中的显示方法,
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
//查看复杂的点云,经常让人感到没有方向感,为了保持正确的坐标判断,需要显示坐标系统方向,可以通过使用X(红色)
//Y(绿色 )Z (蓝色)圆柱体代表坐标轴的显示方式来解决,圆柱体的大小可以通过scale参数来控制,本例中scale设置为1.0
viewer->addCoordinateSystem(1.0);
//通过设置照相机参数使得从默认的角度和方向观察点云
viewer->initCameraParameters();
return (viewer);
}
3、可视化彩色点云的颜色特征
boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
4、自定义点云的颜色特征(自定义点云颜色)
boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
//创建一个自定义的颜色处理器PointCloudColorHandlerCustom对象,并设置颜色为纯绿色
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
//addPointCloud<>()完成对颜色处理器对象的传递
viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
5、可视化点云法线
//显示法线是理解点云的一个重要步骤,点云法线特征是非常重要的基础特征,PCL visualizer可视化类可用于绘制法线,
//也可以绘制表征点云的其他特征,比如主曲率和几何特征,normalsVis函数中演示了如何实现点云的法线
boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis(
pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
//实现对点云法线的显示
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals, 10, 0.05, "normals");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
6、绘制普通形状
//PCL visualizer可视化类允许用户在视窗中绘制一般图元,这个类常用于显示点云处理算法的可视化结果,例如 通过可视化球体
//包围聚类得到的点云集以显示聚类结果,shapesVis函数用于实现添加形状到视窗中,添加了四种形状:从点云中的一个点到最后一个点
//之间的连线,原点所在的平面,以点云中第一个点为中心的球体,沿Y轴的椎体
boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
/************************************************************************************************
绘制形状的实例代码,绘制点之间的连线,
*************************************************************************************************/
viewer->addLine<pcl::PointXYZRGB>(cloud->points[0],
cloud->points[cloud->size() - 1], "line");
//添加点云中第一个点为中心,半径为0.2的球体,同时可以自定义颜色
viewer->addSphere(cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
//---------------------------------------
//-----Add shapes at other locations添加绘制平面使用标准平面方程ax+by+cz+d=0来定义平面,这个平面以原点为中心,方向沿着Z方向-----
//---------------------------------------
pcl::ModelCoefficients coeffs;
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
viewer->addPlane(coeffs, "plane");
//添加锥形的参数
coeffs.values.clear();
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(5.0);
viewer->addCone(coeffs, "cone");
return (viewer);
}
7、多窗口显示多个点云
//viewportsVis函数演示如何用多视角来显示点云计算法线的方法结果对比
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis(
pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->initCameraParameters();
//以上是创建视图的标准代码
int v1(0); //创建新的视口
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); //4个参数分别是X轴的最小值,最大值,Y轴的最小值,最大值,取值0-1,v1是标识
viewer->setBackgroundColor(0, 0, 0, v1); //设置视口的背景颜色
viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1); //添加一个标签区别其他窗口 利用RGB颜色着色器并添加点云到视口中
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud1", v1);
//对第二视口做同样的操作,使得做创建的点云分布于右半窗口,将该视口背景赋值于灰色,以便明显区别,虽然添加同样的点云,给点云自定义颜色着色
int v2(0);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "sample cloud2", v2);
//为所有视口设置属性,
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");
viewer->addCoordinateSystem(1.0);
//添加法线 每个视图都有一组对应的法线
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals1, 10, 0.05, "normals1", v1);
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals2, 10, 0.05, "normals2", v2);
return (viewer);
}
8、鼠标事件
//每次响应这种事件都会在鼠标按下的位置上生成一个文本标签
unsigned int text_id = 0;
void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void);
if (event.getKeySym() == "r" && event.keyDown())
{
std::cout << "r was pressed => removing all text" << std::endl;
char str[512];
for (unsigned int i = 0; i < text_id; ++i)
{
sprintf(str, "text#%03d", i);
viewer->removeShape(str);
}
text_id = 0;
}
}
9、键盘事件
//所以在PCL中视窗中注册事件响应回调函数,不会覆盖其他成员对同一事件的响应
void mouseEventOccurred (const pcl::visualization::MouseEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void);
if (event.getButton () == pcl::visualization::MouseEvent::LeftButton &&
event.getType () == pcl::visualization::MouseEvent::MouseButtonRelease)
{
std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;
char str[512];
sprintf (str, "text#%03d", text_id ++);
viewer->addText ("clicked here", event.getX (), event.getY (), str);
}
}
10、自定义交互
//多数情况下,默认的鼠标和键盘交互设置不能满足用户的需求,用户想扩展函数的某一些功能,比如按下键盘时保存点云的信息,或者通过鼠标确定点云的位置,interactionCustomizationVis 函数进行演示如何捕捉鼠标和键盘事件,在窗口点击,将会显示一个2D的文本标签,按下r健出去文本
boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis ()
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (0, 0, 0);
//以上是实例化视窗的标准代码
viewer->addCoordinateSystem (1.0);
//分别注册响应键盘和鼠标事件,keyboardEventOccurred mouseEventOccurred回调函数,需要将boost::shared_ptr强制转换为void*
viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)viewer.get ());
viewer->registerMouseCallback (mouseEventOccurred, (void*)viewer.get ());
return (viewer);
}
完整代码
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
// 帮助
void
printUsage(const char* progName)
{
std::cout << "\n\nUsage: " << progName << " [options]\n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-h this help\n"
<< "-s Simple visualisation example\n"
<< "-r RGB colour visualisation example\n"
<< "-c Custom colour visualisation example\n"
<< "-n Normals visualisation example\n"
<< "-a Shapes visualisation example\n"
<< "-v Viewports example\n"
<< "-i Interaction Customization example\n"
<< "\n\n";
}
//Simple visualisation example
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
//创建3D窗口并添加点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//RGB colour visualisation example
boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
//创建3D窗口并添加点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//Custom colour visualisation example
boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
//创建3D窗口并添加点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//Normals visualisation example
boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis(
pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)
{
//创建3D窗口并添加点云其包括法线
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals, 10, 0.05, "normals");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
//Shapes visualisation example
boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
//创建3D窗口并添加点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
//在点云上添加直线和球体模型
viewer->addLine<pcl::PointXYZRGB>(cloud->points[0],
cloud->points[cloud->size() - 1], "line");
viewer->addSphere(cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
//在其他位置添加基于模型参数的平面及圆锥体
pcl::ModelCoefficients coeffs;
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
viewer->addPlane(coeffs, "plane");
coeffs.values.clear();
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(5.0);
viewer->addCone(coeffs, "cone");
return (viewer);
}
//Viewports example
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis(
pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2)
{
// 创建3D窗口并添加显示点云其包括法线
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->initCameraParameters();
int v1(0);
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer->setBackgroundColor(0, 0, 0, v1);
viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud1", v1);
int v2(0);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "sample cloud2", v2);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");
viewer->addCoordinateSystem(1.0);
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals1, 10, 0.05, "normals1", v1);
viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals2, 10, 0.05, "normals2", v2);
return (viewer);
}
unsigned int text_id = 0;
void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
if (event.getKeySym() == "r" && event.keyDown())
{
std::cout << "r was pressed => removing all text" << std::endl;
char str[512];
for (unsigned int i = 0; i < text_id; ++i)
{
sprintf(str, "text#%03d", i);
viewer->removeShape(str);
}
text_id = 0;
}
}
void mouseEventOccurred(const pcl::visualization::MouseEvent &event,
void* viewer_void)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
if (event.getButton() == pcl::visualization::MouseEvent::LeftButton &&
event.getType() == pcl::visualization::MouseEvent::MouseButtonRelease)
{
std::cout << "Left mouse button released at position (" << event.getX() << ", " << event.getY() << ")" << std::endl;
char str[512];
sprintf(str, "text#%03d", text_id++);
viewer->addText("clicked here", event.getX(), event.getY(), str);
}
}
//Interaction Customization example
boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis()
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addCoordinateSystem(1.0);
viewer->registerKeyboardCallback(keyboardEventOccurred, (void*)&viewer);
viewer->registerMouseCallback(mouseEventOccurred, (void*)&viewer);
return (viewer);
}
// -----Main-----
int
main(int argc, char** argv)
{
// 解析命令行参数
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
bool simple(false), rgb(false), custom_c(false), normals(false),
shapes(false), viewports(false), interaction_customization(false);
if (pcl::console::find_argument(argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl::console::find_argument(argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl::console::find_argument(argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage(argv[0]);
return 0;
}
// 自行创建一随机点云
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// 以椭圆为边线沿z轴拉伸获取其点云,并赋予红绿蓝渐变色。
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * cosf(pcl::deg2rad(angle));
basic_point.y = sinf(pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back(point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int)point_cloud_ptr->points.size();
point_cloud_ptr->height = 1;
// 0.05为搜索半径获取点云法线
pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
ne.setInputCloud(point_cloud_ptr);
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGB>());
ne.setSearchMethod(tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1(new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch(0.05);
ne.compute(*cloud_normals1);
// 0.1为搜索半径获取点云法线
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2(new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch(0.1);
ne.compute(*cloud_normals2);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
if (simple)
{
viewer = simpleVis(basic_cloud_ptr);
}
else if (rgb)
{
viewer = rgbVis(point_cloud_ptr);
}
else if (custom_c)
{
viewer = customColourVis(basic_cloud_ptr);
}
else if (normals)
{
viewer = normalsVis(point_cloud_ptr, cloud_normals2);
}
else if (shapes)
{
viewer = shapesVis(point_cloud_ptr);
}
else if (viewports)
{
viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
}
else if (interaction_customization)
{
viewer = interactionCustomizationVis();
}
// 主循环
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}