VTK实践1-读取点云

最新推荐文章于 2024-02-22 00:15:00 发布

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最新推荐文章于 2024-02-22 00:15:00 发布

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分类专栏： VTK

本文链接：https://blog.csdn.net/qq_42570058/article/details/111396716

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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