使用PCL进行法向量可视化

使用PCL进行法向量可视化

1、使用PCL进行法向量可视化

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

using namespace std;

int
main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);

    if (pcl::io::loadPCDFile<pcl::PointNormal>("bunny.pcd", *cloud) == -1)
    {
        PCL_ERROR("Could not read file\n");
    }
    //---------------------可视化（含法线）-----------------------------
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("CloudCompare-XYZNormal viewer"));
    viewer->setWindowName("CloudCompare-XYZNormal");
    viewer->addText("CloudCompare-PointNormal", 50, 50, 0, 1, 0, "v1_text");
    viewer->addPointCloud<pcl::PointNormal>(cloud, "CloudCompare-XYZNormal");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "CloudCompare-XYZNormal");
    viewer->addPointCloudNormals<pcl::PointNormal>(cloud, 20, 0.02, "normals");

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

    return 0;
}

2、计算所有点的法线并显示

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
//#include <pcl/features/normal_3d.h>
#include <pcl/features/normal_3d_omp.h>//使用OMP需要添加的头文件
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
using namespace std;
int main()
{
	//------------------加载点云数据-------------------
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("车载点云.pcd", *cloud) == -1)
	{
		PCL_ERROR("Could not read file\n");
	}

	//------------------计算法线----------------------
	pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> n;//OMP加速
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	//建立kdtree来进行近邻点集搜索
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
	n.setNumberOfThreads(10);//设置openMP的线程数
	//n.setViewPoint(0,0,0);//设置视点，默认为（0，0，0）
	n.setInputCloud(cloud);
	n.setSearchMethod(tree);
	n.setKSearch(10);//点云法向计算时，需要所搜的近邻点大小
	//n.setRadiusSearch(0.03);//半径搜素
	n.compute(*normals);//开始进行法向计
	
	//----------------可视化--------------
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Normal viewer"));
	//viewer->initCameraParameters();//设置照相机参数，使用户从默认的角度和方向观察点云
	//设置背景颜色
	viewer->setBackgroundColor(0.3, 0.3, 0.3);
	viewer->addText("faxian", 10, 10, "text");
	//设置点云颜色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 225, 0);
	//添加坐标系
	viewer->addCoordinateSystem(0.1);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
	
 
    //添加需要显示的点云法向。cloud为原始点云模型，normal为法向信息，20表示需要显示法向的点云间隔，即每20个点显示一次法向，0.02表示法向长度。
	viewer->addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud, normals, 20, 0.02, "normals");
	//设置点云大小
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "sample cloud");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

3、计算一个子集的法线

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/features/normal_3d_omp.h>
using namespace std;
int main()
{
	//---------------------加载点云数据----------------------
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("车载点云.pcd", *cloud) == -1)
	{
		PCL_ERROR("Could not read file\n");
	}
	//--------------计算云中前10%的点法线-----------------------
	vector<int> point_indices(floor(cloud->points.size() / 10));
	for (size_t i = 0; i < point_indices.size(); ++i) {
		point_indices[i] = i;	
	}
	//-------------------传递索引----------------------------
	pcl::IndicesPtr indices(new vector <int>(point_indices));
	//-------------------计算法线----------------------------
	pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> n;//OMP加速
	n.setInputCloud(cloud);
	n.setIndices(indices);
	// 创建一个kd树，方便搜索；并将它传递给上面创建的法线估算类对象
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
	n.setSearchMethod(tree);
	n.setRadiusSearch(0.01);
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	//----------------估算特征---------------
	n.compute(*normals);
	//-------------为方便可视化，将前10%点云提出-------------------------------
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::copyPointCloud(*cloud, point_indices, *cloud1);
	//------------------可视化-----------------------
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Normal viewer"));
	//设置背景颜色
	viewer->setBackgroundColor(0.3, 0.3, 0.3);
	viewer->addText("faxian", 10, 10, "text");
	//设置点云颜色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color1(cloud1, 0, 225, 0);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 255, 0, 0);
	//添加坐标系
	//viewer->addCoordinateSystem(0.1);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
	viewer->addPointCloud<pcl::PointXYZ>(cloud1, single_color1, "sample cloud1");
	viewer->addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud1, normals, 20, 0.02, "normals");
	//设置点云大小
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "sample cloud1");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}