用VTK也有一段时间了,想着不用PCL中自带的显示函数,自己利用VTK写一个显示点云的例子。其实也不是很难,理解VTK的模式和数据结构就可以实现了。
主要函数如下:
/* brief 添加点云(无色)
* param[in] cloud 添加PCL点云指针
*/
vtkSmartPointer<vtkActor> addCloudPoints(pcl::PointCloud<pcl::PointXYZRGBA> &cloud)
{
vtkSmartPointer<vtkPoints>points = vtkSmartPointer<vtkPoints>::New();//点数据
vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New();//单元数据 顶点类型
for (int i = 0; i < cloud.points.size();i++)
{
//定义存储顶点索引的中间变量,类似Int、long类型
vtkIdType pointId[1];
//将每个点的坐标加入vtkPoints,InsertNextPoint()返回加入点的索引号
pointId[0] = points->InsertNextPoint(cloud.points[i].x, cloud.points[i].y, cloud.points[i].z);
//为每个坐标点分别创建一个顶点,顶点是单元类型里面的一种
vertices->InsertNextCell(1,pointId);
}
//创建vtkPolyData对象
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
//指定数据的几何结构(由points指定)和拓扑结构(由vertices指定)
polyData->SetPoints(points);
polyData->SetVerts(vertices);
vtkSmartPointer<vtkPolyDataMapper> pointsMapper =vtkSmartPointer<vtkPolyDataMapper>::New();
pointsMapper->SetInputData(polyData);
vtkSmartPointer<vtkActor> pointsActor = vtkSmartPointer<vtkActor>::New();
pointsActor->SetMapper(pointsMapper);
pointsActor->GetProperty()->SetPointSize(3);//设置点的大小
return pointsActor;
}
调用
void main()
{
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
string pathData = "../data/underWater.pcd";
if (pcl::io::loadPCDFile(pathData, *cloud))
{
return ;
}
else
{
cout << "Data Loading successful!" << endl;
}
vtkSmartPointer<vtkRenderer>renderer = vtkSmartPointer<vtkRenderer>::New();
renderer->SetBackground(.1, .2, .3);
vtkSmartPointer<vtkActor> pointsActor = addCloudPointsColor(*cloud);
renderer->AddActor(pointsActor);
vtkSmartPointer<vtkRenderWindow> renderWin = vtkSmartPointer<vtkRenderWindow>::New();
renderWin->AddRenderer(renderer);
vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New();
interactor->SetRenderWindow(renderWin);
vtkSmartPointer<vtkInteractorStyleTrackballCamera>interactorStyle = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();
interactor->SetInteractorStyle(interactorStyle);
renderWin->SetSize(1600, 800);
renderWin->SetWindowName("Read Cloud");
renderWin->Render();
interactor->Start();
}
读取结果