继承PCL可视化类,实现坐标轴、PNG图片、颜色表的显示
pcl::visualization::PCLVisualizer是pcl中的可视化类,支持点云显示,点云拾取,点云框选等,但是无法添加图片和颜色表。通过继承PCLVisualizer类可以灵活添加坐标轴、图片和颜色表。
参考了pcl源码之后实现了上面几个功能,效果如下。
左下角添加了坐标轴,其位置通过参数给出,固定不可移动
右上角添加了一个PNG图片显示
右下角添加了一个颜色条
实现代码
main.cpp
#include <vtkRenderWindow.h>
#include <vtkPNGReader.h>
#include <vtkImageData.h>
#include <vtkLogoRepresentation.h>
#include <vtkLogoWidget.h>
#include <vtkAxesActor.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkScalarBarWidget.h>
#include <vtkScalarBarActor.h>
#include <vtkScalarBarRepresentation.h>
#include <vtkColorTransferFunction.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_color_handlers.h>
using namespace std;
/*继承了PCL的可视化类 pcl::visualization::PCLVisualizer,实现坐标轴/LOGO图片/颜色表的显示*/
class My_View :public pcl::visualization::PCLVisualizer
{
public:
My_View(string name, bool initIterator) :pcl::visualization::PCLVisualizer(name, initIterator)
{
;
}
/** \brief Adds a widget which shows an Logo image display
* \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window
* \param[in] name - imagefilename
* \param[in] x - x-position
* \param[in] y - y-position
* \param[in] x_wide - x-scalar
* \param[in] y_wide - y-scalar
* \param[in] opaticy - opaticy
*/
void addLogoWidgetToview(vtkRenderWindowInteractor* interactor, const std::string &name, double &x, double &y, double &x_wide, double &y_wide, double &opaticy);
/** \brief Adds a widget which shows an vtkScalarBarWidget
* \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window
* \param[in] lut - lookuptable
* \param[in] x - x-position
* \param[in] y - y-position
* \param[in] x_wide - x-scalar
* \param[in] y_wide - y-scalar
*/
void addScalarBarWidgetToView(vtkRenderWindowInteractor* interactor, vtkLookupTable* lut, double &x, double &y, double &x_wide, double &y_wide);
vtkSmartPointer<vtkScalarBarWidget> getScalarBarWidgetMember();
/** \brief Adds a widget which shows an interactive axes display for orientation
* \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window
* \param[in] x - x-position
* \param[in] y - y-position
* \param[in] x_wide - x-scalar
* \param[in] y_wide - y-scalar
*/
void addOrientationMarkerWidgetAxesToview(vtkRenderWindowInteractor* interactor, double x, double y, double x_wide, double y_wide);
private:
/** \brief Internal pointer to widget which contains a logo_Widget_ */
vtkSmartPointer<vtkLogoWidget> logo_Widget_member_;
/** \brief Internal pointer to widget which contains a scalarbar_Widget_ */
vtkSmartPointer<vtkScalarBarWidget> scalarbar_Widget_member_;
/** \brief Internal pointer to widget which contains a set of axes */
vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_member_;
};
vtkSmartPointer<vtkScalarBarWidget> My_View::getScalarBarWidgetMember()
{
return scalarbar_Widget_member_;
}
void My_View::addLogoWidgetToview(vtkRenderWindowInteractor* interactor, const std::string &name, double &x, double &y, double &x_wide, double &y_wide, double &opaticy)
{
if (!logo_Widget_member_)
{
vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New();
reader->SetFileName(name.c_str());/*no multiple coding format*/
reader->Update();
vtkSmartPointer<vtkLogoRepresentation> logoRepresentation = vtkSmartPointer<vtkLogoRepresentation>::New();
logoRepresentation->SetImage(reader->GetOutput());
logoRepresentation->SetPosition(x, y);
logoRepresentation->SetPosition2(x_wide, y_wide);/*0.12, 0.05*/
logoRepresentation->GetImageProperty()->SetOpacity(opaticy);/*0.9*/
logoRepresentation->SetShowBorderToOff();/*no edgeline*/
logo_Widget_member_ = vtkSmartPointer<vtkLogoWidget>::New();
logo_Widget_member_->SetInteractor(interactor);
logo_Widget_member_->SetRepresentation(logoRepresentation);
logo_Widget_member_->SetEnabled(true);/*enable show*/
logo_Widget_member_->ProcessEventsOff();/*disable move*/
}
else
{
logo_Widget_member_->SetEnabled(true);
pcl::console::print_warn(stderr, "LogoWidget Widget already exists, just enabling it");
}
}
void My_View::addScalarBarWidgetToView(vtkRenderWindowInteractor* interactor, vtkLookupTable* lut, double &x, double &y, double &x_wide, double &y_wide)
{
if (!scalarbar_Widget_member_)
{
/*Scalarbar Actor*/
vtkSmartPointer< vtkScalarBarActor > scalarBarActor = vtkSmartPointer< vtkScalarBarActor >::New();
scalarBarActor->SetOrientationToHorizontal();
scalarBarActor->SetLookupTable(lut);
/*ScalarBar Widget*/
scalarbar_Widget_member_ = vtkSmartPointer< vtkScalarBarWidget >::New();
scalarbar_Widget_member_->SetInteractor(interactor);
scalarbar_Widget_member_->SetScalarBarActor(scalarBarActor);
//scalarBarWidget->set
scalarbar_Widget_member_->On();
}
else
{
/*Scalarbar Actor*/
vtkSmartPointer< vtkScalarBarActor > scalarBarActor = vtkSmartPointer< vtkScalarBarActor >::New();
scalarBarActor->SetOrientationToHorizontal();
scalarBarActor->SetLookupTable(lut);
/*ScalarBar Widget*/
//scalarbar_Widget_.
scalarbar_Widget_member_ = vtkSmartPointer< vtkScalarBarWidget >::New();
scalarbar_Widget_member_->SetInteractor(interactor);
scalarbar_Widget_member_->SetScalarBarActor(scalarBarActor);
//scalarBarWidget->set
scalarbar_Widget_member_->On();
}
}
void My_View::addOrientationMarkerWidgetAxesToview(vtkRenderWindowInteractor* interactor, double x, double y, double x_wide, double y_wide)
{
if (!axes_widget_member_)
{
vtkSmartPointer<vtkAxesActor> axes = vtkSmartPointer<vtkAxesActor>::New();
axes_widget_member_ = vtkSmartPointer<vtkOrientationMarkerWidget>::New();
axes_widget_member_->SetOutlineColor(0.9300, 0.5700, 0.1300);
axes_widget_member_->SetOrientationMarker(axes);
axes_widget_member_->SetInteractor(interactor);
axes_widget_member_->SetViewport(x, y, x_wide, y_wide);
axes_widget_member_->SetEnabled(true);
axes_widget_member_->InteractiveOn();
axes_widget_member_->InteractiveOff();
}
else
{
axes_widget_member_->SetEnabled(true);
pcl::console::print_warn(stderr, "Orientation Widget Axes already exists, just enabling it");
}
}
int main(int argc, char *argv[])
{
/*初始化视图*/
boost::shared_ptr<My_View> viewer_;
viewer_.reset(new My_View("viewer", true));
/*添加Logo图片到视图左上角*/
std::string logofilename = "png.png";
double x = 0.80, y = 0.80/*0.93*/, x_wide = 0.2/*0.12*/, y_wide = 0.1/*0.05*/, opacity = 0.9;
viewer_->addLogoWidgetToview(viewer_->getRenderWindow()->GetInteractor(), logofilename, x, y, x_wide, y_wide, opacity);
/*添加坐标轴到视图的左下角*/
viewer_->addOrientationMarkerWidgetAxesToview(viewer_->getRenderWindow()->GetInteractor(), 0.0, 0.0, 0.2, 0.2);
/*添加颜色列表到视图右下角*/
vtkSmartPointer<vtkColorTransferFunction> color = vtkSmartPointer<vtkColorTransferFunction>::New();
color->AddRGBPoint(0.0, 1.0,0.0,0.0);/*red*/
color->AddRGBPoint(0.5, 0.0, 1.0, 0.0);/*green*/
color->AddRGBPoint(1.0, 0.0, 0.0, 1.0);/*blue*/
color->SetColorSpaceToRGB();
color->SetNanColor(1.0, 1.0, 0);
vtkSmartPointer< vtkLookupTable > lut = vtkSmartPointer< vtkLookupTable >::New();
lut->SetNumberOfColors(64);
for (int i = 0; i < 64; i++)
{
double d[3] = { 0.0 };
double *pd = color->GetColor(i / 64.0);
d[0] = pd[0]; d[1] = pd[1]; d[2] = pd[2];
lut->SetTableValue(i, d[0], d[1], d[2]);
}
lut->SetTableRange(0.0, 1.0);
lut->Build();
double x1 = 0.9, y1 = 0.0,/*0.93*/ x_wide1 = 0.08/*0.12*/, y_wide1 = 0.35;/*0.05*/
int maxsize[2] = { 50, 100 };
int minsize[2] = { 50, 100 };
vtkSmartPointer<vtkScalarBarRepresentation > scalarBarRep = vtkSmartPointer<vtkScalarBarRepresentation >::New();
scalarBarRep->SetPosition(x1, y1);/*在pcl visual中的位置*/
scalarBarRep->SetPosition2(x_wide1, y_wide1);/*0.2, 0.2等效于上面的两行代码*/
//scalarBarRep->SetMaximumSize(20, 50);/*最大*/ //scalarBarRep->SetMinimumSize(minsize);/*最小*/
scalarBarRep->SetShowBorderToOn();/*Invalid*/
scalarBarRep->SetShowBorder(true); //scalarBarRep->SetShowBorderToActive();
//scalarBarRep->SetShowHorizontalBorder(true); //scalarBarRep->SetShowVerticalBorder(true);
viewer_->addScalarBarWidgetToView(viewer_->getRenderWindow()->GetInteractor(), lut, x1, y1, x_wide1, y_wide1);/*添加Widget到View*/
scalarBarRep->SetScalarBarActor(viewer_->getScalarBarWidgetMember()->GetScalarBarActor());/*设置代理对象为Widget*/
viewer_->getScalarBarWidgetMember()->SetRepresentation(scalarBarRep);/*为Widget设置代理*/
viewer_->getScalarBarWidgetMember()->GetScalarBarActor()->SetLabelFormat("%5.2f");/*尺度的刻度值*/
viewer_->getScalarBarWidgetMember()->GetScalarBarActor()->SetMaximumWidthInPixels(70);
viewer_->spin();
}
CMakeLists
cmake_minimum_required (VERSION 2.6 FATAL_ERROR)
project(pcl_visualization_test)
find_package (VTK REQUIRED)
find_package (PCL 1.8.1 REQUIRED)
include_directories(${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
link_directories (${PCL_LIBRARY_DIRS})
add_definitions (${PCL_DEFINITIONS})
ADD_DEFINITIONS(-D _XKEYCHECK_H)
ADD_EXECUTABLE (Demo main.cpp)
TARGET_LINK_LIBRARIES (Demo ${PCL_LIBRARIES} ${VTK_LIBRARIES})