PCL点云库可视化常用函数与经验总结

目录

一， makeShared：使点云返回一个智能指针（深拷贝）

二，pcl::visualization::PCLVisualizer

viewer.setPointCloudRenderingProperties

setPointCloudRenderingProperties() 

Note

三，RenderingProperties

四， 添加文本addText、updateText

五，点云分割

getColoredCloud()

六， 经验总结

---

一， makeShared：使点云返回一个智能指针（深拷贝）

      /** \brief Copy the cloud to the heap and return a smart pointer
        * Note that deep copy is performed, so avoid using this function on non-empty clouds.
        * The changes of the returned cloud are not mirrored back to this one.
        * \return shared pointer to the copy of the cloud
        */
      inline Ptr 
      makeShared () const { return Ptr (new PointCloud<PointT> (*this)); }

二，pcl::visualization::PCLVisualizer

viewer.setPointCloudRenderingProperties

setPointCloudRenderingProperties() 

bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties	(	
              int    property,
              double 	value,
              const std::string & 	id = "cloud",
              int 	viewport = 0 
)	

Set the rendering properties of a PointCloud.

Parameters

[in]	property	the property type
[in]	value	the value to be set
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud's rendering properties should be modified (default: all)

Note

注意事项：

设置属性前需要指定id，默认为“cloud”，如果没有设置“cloud”的id，或者其他id，将不起作用。

The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

三，RenderingProperties

enum pcl::visualization::RenderingProperties

Set of rendering properties.

Enumerator
PCL_VISUALIZER_POINT_SIZE	integer starting from 1
PCL_VISUALIZER_OPACITY	Float going from 0.0 (transparent) to 1.0 (opaque)
PCL_VISUALIZER_LINE_WIDTH	Integer starting from 1.
PCL_VISUALIZER_FONT_SIZE
PCL_VISUALIZER_COLOR	3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
PCL_VISUALIZER_REPRESENTATION
PCL_VISUALIZER_IMMEDIATE_RENDERING
PCL_VISUALIZER_SHADING
PCL_VISUALIZER_LUT	colormap type pcl::visualization::LookUpTableRepresentationProperties
PCL_VISUALIZER_LUT_RANGE	two doubles (min and max) or PCL_VISUALIZER_LUT_RANGE_AUTO

四， 添加文本addText、updateText

        /** \brief Add a text to screen
          * \param[in] text the text to add
          * \param[in] xpos the X position on screen where the text should be added
          * \param[in] ypos the Y position on screen where the text should be added
          * \param[in] fontsize the fontsize of the text
          * \param[in] r the red color value
          * \param[in] g the green color value
          * \param[in] b the blue color value
          * \param[in] id the text object id (default: equal to the "text" parameter)
          * \param[in] viewport the view port (default: all)
          */
        bool
        addText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b,
                 const std::string &id = "", int viewport = 0);

五，点云分割

getColoredCloud()

如果云被成功分割，则函数返回彩色云。否则返回一个空指针。属于同一段的点具有相同的颜色。但是这个函数并不能保证不同的片段会有不同的颜色(这完全取决于RNG)。未在索引数组中列出的点将用红色表示。

六， 经验总结

在Visual Studio中使用Release模式运行速度更快，如果是为了运行程序，而不是调试，尽量选择Release模式，而不是Debug模式。