PCL库学习笔记（PCL Visualizer）

本文展示了PCL Visualizer的几种基本用法。代码的主体是点云库提供的源代码。由于其是由cmake进行编译，有输入参数的选择问题。为了方便VS的调试运行过程，将其中的输入接口进行了修改：

代码中学习到的几个知识点：

1、int main( int argc, char* argv[] ) 中arg和argv参数的含义；
参考博客：https://blog.csdn.net/dgreh/article/details/80985928
2、注意RGB合成的原理
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
				static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));

/* \author Geoffrey Biggs */

#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";
}

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);
}

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);
}

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);
}

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);
}


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);
}


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);
	}
}

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

	printUsage(argv[0]);

	std::cout << "Input your commend: ";
	std::string commend;
	getline(cin, commend);

	bool simple(false), rgb(false), custom_c(false), normals(false),
		shapes(false), viewports(false), interaction_customization(false);
	if (commend == "-s")
	{
		simple = true;
		std::cout << "Simple visualisation example\n";
	}
	else if (commend == "-c")
	{
		custom_c = true;
		std::cout << "Custom colour visualisation example\n";
	}
	else if (commend == "-r")
	{
		rgb = true;
		std::cout << "RGB colour visualisation example\n";
	}
	else if (commend == "-n")
	{
		normals = true;
		std::cout << "Normals visualisation example\n";
	}
	else if (commend == "-a")
	{
		shapes = true;
		std::cout << "Shapes visualisation example\n";
	}
	else if (commend == "-v")
	{
		viewports = true;
		std::cout << "Viewports example\n";
	}
	else if (commend == "-i")
	{
		interaction_customization = true;
		std::cout << "Interaction Customization example\n";
	}

	// 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));
	}
}