pcl_viewer使用技巧
虽然有很多查看点云的方式,但是要说在linux系统下,最简单快捷的方式还得说是pcl_viewer,在此记录一下自己觉得还挺好用的几点pcl_viewer操作。
pcl_viewer安装
安装pcl_viewer工具只需要一句话,如下所示,如果显示没法定位软件包,可以更新一下自己的源。
sudo apt-get install pcl-tools
pcl_viewer使用
-bc r,g,b = background color
-fc r,g,b = foreground color
-ps X = point size (1..64)
-opaque X = rendered point cloud opacity (0..1)
-ax n = enable on-screen display of XYZ axes and scale them to n
-ax_pos X,Y,Z = if axes are enabled, set their X,Y,Z position in space (default 0,0,0)
-cam (*) = use given camera settings as initial view
(*) [Clipping Range / Focal Point / Position / ViewUp / Distance / Window Size / Window Pos] or use a <filename.cam> that contains the same information.
-multiview 0/1 = enable/disable auto-multi viewport rendering (default disabled)
-normals 0/X = disable/enable the display of every Xth point's surface normal as lines (default disabled)
-normals_scale X = resize the normal unit vector size to X (default 0.02)
-pc 0/X = disable/enable the display of every Xth point's principal curvatures as lines (default disabled)
-pc_scale X = resize the principal curvatures vectors size to X (default 0.02)
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查看点云的命令如下:
pcl_viewer test.pcd
-
按下键盘
h或H
后,可以查看一些可用的快捷键,如下所示,可以看到,当我们打开一个pcd文件后,终端会输出它的点云个数
。 -
查看点云坐标
pcl_viewer test.pcd -use_point_picking
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显示xyz轴
pcl_viewer test.pcd -ax 5 #5表示轴的放大倍数
然后按住shift选择点,在界面显示界面选择点云之后,会在终端输出点云坐标。
5. 一次打开多个pcd文件
pcl_viewer -multiview 1 pig1.pcd pig2.pcd test.pcd #不同窗口分别打开pcd文件
pcl_viewer pig1.pcd pig2.pcd test.pcd #同一窗口打开不同pcd文件
参考:
[1] pcl_viewer 语法 https://blog.csdn.net/luthor_lee/article/details/89381729
[2] pcl可视化的那些事 https://segmentfault.com/a/1190000006685118