PCL点云库学习笔记（3）——可视化

1.点云视窗类CloudViewer简单点云可视化

点云视窗类 CloudViewer 是简单显示点云的可视化工具类,可以让用户用尽可能少的代码
查看点云。注意:点云视窗类不能应用于多线程应用程序中。
PCLVisualizer 是 Cloud Viewer 的后端, 但它在自己的线程中运行,若要使用 PCLVisualizer 类,必须使用调用函数,这样可以避免可视化的并发问题。但是,调用时一定要特别注意,以免发生代码混乱的情况,因为调用函数要从可视化线程中进行。

#include <pcl/visualization/cloud_viewer.h>//类CloudViewer
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
    
int user_data;
//该函数主要是设置可视化的背景颜色，以及添加了一个圆球几何体
//仅执行一次
void 
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);//背景颜色
    pcl::PointXYZ o;//圆球圆心
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.25, "sphere", 0);//添加圆球对象
    std::cout << "i only run once" << std::endl;
    
}

// 在可视化对象中添加一个刷新的字符串
//每一帧都要执行一次   
void 
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape ("text", 0);
    viewer.addText (ss.str(), 200, 300, "text", 0);
    //FIXME: possible race condition here:
    user_data++;
}
    
int 
main ()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("maize.pcd", *cloud);
    pcl::visualization::CloudViewer viewer("Cloud Viewer");   //初始化可视化对象 
    //显示点云
    viewer.showCloud(cloud);
    //该注册函数在可视化时只调用一次
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    //该注册函数在渲染输出时每次都要调用
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
 
    user_data++;
    }
    return 0;
}

2.PCL Visualizer可视化类

PCL Visualizer 可视化类是 PCL 中功能最全的可视化类，与 CloudViewer 可视化类相比，
PCL Visualizer 使用起来更为复杂，但该类具有更全面的功能，如显示法线、绘制多种形状和多个视口。
下面的demo演示了如何利用PCL Visualizer类来显示简单点云、点云颜色特征、自定义颜色特征、点云法线特征、绘制的普通形状、多视口显示以及自定义交互。

/* \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>
// 打印按键功能
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";
}
/*1----显示简单点云*/
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  //显示简单地XYZ类型的点云
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));//视窗名为“3D Viewer"
																				//被定义为了智能共享指针，可以在程序中全局使用，不引起内存错误
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");//点云添加到视窗中，并且有唯一的ID字符串，其他成员引用该点云即使用该ID
															//如果再次调用viewer->addPointCloud()则需要设定新的ID
															//如果要更新一个已显示的点云，方法1：先调用removePointCloud()并提供新点云ID
															//方法2：pcl 1.1以上版本，直接调用updatePointCloud（）
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");//控制点云尺寸，其他属性也可控制
  viewer->addCoordinateSystem (1.0);//坐标系统的scale（坐标颜色为：X(RED) Y(GREEN) Z(BLUE))
  viewer->initCameraParameters ();//设置从默认的角度观察点云
  return (viewer);
}

/*2----点云颜色特征*/
boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
  	
  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);//创建颜色处理对象rgb,用于获取每个点云的RGB颜色字段。
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");//将点云与相应的颜色处理对象添加的视窗中
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

/*3----自定义颜色特征*/
boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{

  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);//自定义颜色处理对象
  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);
}

/*4----法线等其他特征*/
boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis (
    pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals) //注意传入法线
{
  
  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");//绘制每个点及其法线，每10个点显示一条法线，法线长度0.05
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

/*5----绘制普通形状*/
boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
    
  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 ();
  //绘制从第一个点到最后一个点的直线
  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");//绘制球体，圆心、半径、颜色
   
   pcl::ModelCoefficients coeffs;
  coeffs.values.push_back (0.0);//a
  coeffs.values.push_back (0.0);//b
  coeffs.values.push_back (1.0);//c
  coeffs.values.push_back (0.0);//d
  viewer->addPlane (coeffs, "plane");//平面ax+by+cz+d=0
  coeffs.values.clear ();//清空参数存储对象
  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);
}

/*6----多视口显示*/
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)
{  
   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->initCameraParameters ();
  //第一个视口
  int v1(0);
  viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);//窗口坐标x最小值，y最小值，x最大值，y最大值。取值为0~1
  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);
  //第二个视口
  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);
}

/*7----自定义交互*/

//键盘操作
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;
  }
}

//鼠标操作 回调函数
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);//在鼠标点击的位置显示“clicked here"
  }
}

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-----  判断调用不同显示内容
int
main (int argc, char** argv)
{
  // �����������
  if (pcl::console::find_argument (argc, argv, "-h") >= 0)
  {
    printUsage (argv[0]);
    return 0;
  }
  bool simple(false), rgb(false), custom_c(false), normals(false),
    shapes(false), viewports(false), interaction_customization(false);
  if (pcl::console::find_argument (argc, argv, "-s") >= 0)
  {
    simple = true;
    std::cout << "Simple visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-c") >= 0)
  {
    custom_c = true;
    std::cout << "Custom colour visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-r") >= 0)
  {
    rgb = true;
    std::cout << "RGB colour visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-n") >= 0)
  {
    normals = true;
    std::cout << "Normals visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-a") >= 0)
  {
    shapes = true;
    std::cout << "Shapes visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-v") >= 0)
  {
    viewports = true;
    std::cout << "Viewports example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-i") >= 0)
  {
    interaction_customization = true;
    std::cout << "Interaction Customization example\n";
  }
  else
  {
    printUsage (argv[0]);
    return 0;
  }
 
  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";

  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;
  // 计算法线，搜索半径为0.05
  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);
  // 搜索半径0.1
  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();
  }
  
  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);//给予视窗处理事件的时间
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}