8 可视化特征直方图

生成就直接运行了，还是要在exe终端进行

哈哈哈哈哈哈哈~也没运行出来

#include<pcl/visualization/pcl_plotter.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/parse.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/normal_space.h>
#include <pcl/common/eigen.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/visualization/histogram_visualizer.h>


#include<iostream>
#include<vector>
#include<utility>
#include<math.h>  //for abs()

using namespace std;
using namespace pcl::visualization;
using namespace pcl::console;

#if 1

void generateData(double* ax, double* acos, double* asin, int numPoints)
{
	double inc = 7.5 / (numPoints - 1);
	for (int i = 0; i < numPoints; ++i)
	{
		ax[i] = i * inc;
		acos[i] = cos(i * inc);
		asin[i] = sin(i * inc);
	}
}

//.....................回调函数....................
double step(double val)
{
	if (val > 0)
		return (double)(int)val;
	else
		return (double)((int)val - 1);
}

double identity_i(double val)
{
	return val;
}

// PCL_demo.exe mesh.pcd
int main(int argc, char* argv[])
{
	if (argc < 2)
	{
		std::cout << ".exe source.pcd -r 0.005 -ds 5" << endl;
		return 0;
	}
	float voxel_re = 0.005, ds_N = 5;
	parse_argument(argc, argv, "-r", voxel_re);// 设置点云分辨率
	parse_argument(argc, argv, "-ds", ds_N);// 设置半径


	// 调节下采样的分辨率以保持数据处理的速度。
	// 下采样 
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile(argv[1], *cloud_src);
	std::vector<int> indices1;
	pcl::removeNaNFromPointCloud(*cloud_src, *cloud_src, indices1);
	pcl::PointCloud<pcl::PointXYZ>::Ptr ds_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::VoxelGrid<pcl::PointXYZ> grid;
	grid.setLeafSize(voxel_re, voxel_re, voxel_re);
	grid.setInputCloud(cloud_src);
	grid.filter(*ds_src);


	//计算法向量
	pcl::PointCloud<pcl::Normal>::Ptr norm_src(new pcl::PointCloud<pcl::Normal>);
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_src(new pcl::search::KdTree<pcl::PointXYZ>());
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
	PCL_INFO("	Normal Estimation - Source \n");
	ne.setInputCloud(ds_src);
	ne.setSearchSurface(cloud_src);
	ne.setSearchMethod(tree_src);
	ne.setRadiusSearch(ds_N * 2 * voxel_re);
	ne.compute(*norm_src);

	// 提取关键点
	pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_tgt(new pcl::PointCloud<pcl::PointXYZ>);
	grid.setLeafSize(ds_N * voxel_re, ds_N * voxel_re, ds_N * voxel_re);
	grid.setInputCloud(ds_src);
	grid.filter(*keypoints_src);


	//Feature-Descriptor 
	PCL_INFO("FPFH - Feature Descriptor\n");
	//FPFH	
	//FPFH Source 
	pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh_est_src;
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_fpfh_src(new pcl::search::KdTree<pcl::PointXYZ>);

	fpfh_est_src.setSearchSurface(ds_src);//输入完整点云数据
	fpfh_est_src.setInputCloud(keypoints_src); // 输入关键点
	fpfh_est_src.setInputNormals(norm_src);
	fpfh_est_src.setRadiusSearch(2 * ds_N * voxel_re);
	fpfh_est_src.setSearchMethod(tree_fpfh_src);
	pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfh_src(new pcl::PointCloud<pcl::FPFHSignature33>);
	fpfh_est_src.compute(*fpfh_src);



	//定义绘图器
	PCLPlotter* plotter = new PCLPlotter("My Plotter");
	//设置特性
	plotter->setShowLegend(true);
	std::cout << pcl::getFieldsList<pcl::FPFHSignature33>(*fpfh_src);// 获取点云的field name 参数，用于下面添加直方图时的第2个参数设置
	plotter->addFeatureHistogram<pcl::FPFHSignature33>(*fpfh_src, "fpfh", 5, "one_fpfh");//添加直方图显示
	//显示两秒
	plotter->setWindowSize(800, 600);
	plotter->spinOnce(30000);
	plotter->clearPlots();

	// 产生对应点对
	int numPoints = 69;
	double ax[100], acos[100], asin[100];
	generateData(ax, acos, asin, numPoints);

	//添加绘图数据
	plotter->addPlotData(ax, acos, numPoints, "cos");
	plotter->addPlotData(ax, asin, numPoints, "sin");

	//显示2s
	plotter->spinOnce(3000);
	plotter->clearPlots();


	//...................绘制隐式函数....................

	//设置y轴范围
	plotter->setYRange(-10, 10);

	//定义多项式
	vector<double> func1(1, 0);
	func1[0] = 1; //y = 1
	vector<double> func2(3, 0);
	func2[2] = 1; //y = x^2

	plotter->addPlotData(std::make_pair(func1, func2), -10, 10, "y = 1/x^2", 100, vtkChart::POINTS);
	plotter->spinOnce(2000);

	plotter->addPlotData(func2, -10, 10, "y = x^2");
	plotter->spinOnce(2000);

	//回调函数
	plotter->addPlotData(identity_i, -10, 10, "identity");
	plotter->spinOnce(2000);

	plotter->addPlotData(abs, -10, 10, "abs");
	plotter->spinOnce(2000);

	plotter->addPlotData(step, -10, 10, "step", 100, vtkChart::POINTS);
	plotter->spinOnce(2000);

	plotter->clearPlots();

	//........................一个简单动画..............................


	vector<double> fsq(3, 0);
	fsq[2] = -100; //y = x^2
	while (plotter->wasStopped())
	{
		if (fsq[2] == 100) fsq[2] = -100;
		fsq[2]++;
		char str[50];
		sprintf(str, "y = %dx^2", (int)fsq[2]);
		plotter->addPlotData(fsq, -10, 10, str);
		plotter->setYRange(-1, 1);
		plotter->spinOnce(100);
		plotter->clearPlots();
	}

	return 1;
}

#endif