PCL小工具五：pcd点云和PCL中直线可视化

因为项目需要，需要把点云和点云中的直线可视化出来
当然，本文不涉及如何提取点云中的直线，这个感兴趣的可以在网上自行查找哈~

直接贴代码吧

src/visual_pcd2.cpp

#include <pcl/registration/ia_ransac.h>//采样一致性
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/search/kdtree.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/voxel_grid.h>//
#include <pcl/filters/filter.h>//
#include <pcl/registration/icp.h>//icp配准
#include <pcl/visualization/pcl_visualizer.h>//可视化
#include <time.h>//时间

using namespace std;

typedef pcl::PointXYZ PointT;	//改个别名，用起来方便，具体可百度typedef c++用法
typedef pcl::PointCloud<PointT> PointCloud;
int main()
{

	//加载点云文件
	PointCloud::Ptr cloud_src_o(new PointCloud);//原点云，待配准 //定义一个点云指针文件， 点云指针为cloud_src_o
	pcl::io::loadPCDFile("/home/jy/Desktop/2011_09_30/2011_09_30_drive_0027_sync/velodyne_points/out_fliter_010.pcd", *cloud_src_o);//将读取的“”里的文件的内容，给了cloud_src_o所指向的地址，*给指针取内容
	
	
	pcl::visualization::PCLVisualizer viewer("registration Viewer"); //定义一个显示器

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h(cloud_src_o, 0, 200, 200);  //给点云定义一个颜色 RGB模式  为全G 绿色

	viewer.setBackgroundColor(255, 255, 255);  //设置背景颜色  255,255,255就是白色
	viewer.addPointCloud(cloud_src_o, src_h, "source cloud");  //把点云加入到显示器里


	// string file_name = "/home/jy/catkin_ws/src/map_fusion/config/V1_01_easy/line_3d.txt";
    string file_name ="/home/jy/Desktop/pcd2txt/build/line_07_flitered_010.txt";
	string fline;
	ifstream in(file_name); 
	if (!in.is_open())
	{
		cout << "can not open this file" << endl;
		return 0;
	}

	int i = 1;
	while(std::getline(in,fline))
    {

		std::istringstream iss(fline);
        vector<float>line3d(6) ;
        iss>>line3d[0]>>line3d[1]>>line3d[2]>>line3d[3]>>line3d[4]>>line3d[5];//存入7个值

		PointT a,b;
		a.x = line3d[0];
		a.y = line3d[1];
		a.z = line3d[2];
		b.x = line3d[3];
		b.y = line3d[4];
		b.z = line3d[5];

		string str = to_string(i);
		viewer.addLine(a,b,255,0,0,"line"+str);//把直线加到可视化界面里
		// cout << a.x << " " << a.y << " " << a.z << endl;
        
		
	    cout << i << endl;
		if(i==10000) break;
		i++;
    }


	// 等待直到可视化窗口关闭
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return (0);
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.8)

set(CMAKE_BUILD_TYPE "Release")
# 添加c++ 11标准支持
set(CMAKE_CXX_FLAGS "-std=c++11 -O2")

find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

add_executable (visual_pcd2 src/visual_pcd2.cpp) #注意这里不能替换
target_link_libraries(visual_pcd2 ${PCL_LIBRARIES})

有问题欢迎在评论区留言~