VTK实践1-读取点云

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

VTK可以读取并可视化PCL点云数据。以下是一些基本步骤: 1. 确保您已经安装了VTK和PCL库。 2. 加载PCL点云数据并将其转换为VTK数据格式。这可以通过使用PCL库中的vtkSmartPointer类来完成。以下是一个示例代码段: ```cpp pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // Load PCL point cloud data pcl::io::loadPCDFile ("your_pcl_point_cloud.pcd", *cloud); // Convert to VTK data format vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New(); for (int i = 0; i < cloud->size(); i++) { pcl::PointXYZ point = cloud->points[i]; points->InsertNextPoint(point.x, point.y, point.z); } vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New(); polydata->SetPoints(points); ``` 3. 使用VTK的可视化工具显示点云数据。以下是一个示例代码段: ```cpp vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); mapper->SetInputData(polydata); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); actor->SetMapper(mapper); vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New(); renderer->AddActor(actor); renderer->SetBackground(0.1, 0.2, 0.4); vtkSmartPointer<vtkRenderWindow> renderWindow = vtkSmartPointer<vtkRenderWindow>::New(); renderWindow->AddRenderer(renderer); vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New(); interactor->SetRenderWindow(renderWindow); interactor->Initialize(); interactor->Start(); ``` 这将创建一个带有点云数据的3D窗口,您可以在其中旋转和缩放点云数据。
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