pcl点云库python实现_pcl实时显示

激光雷达，需要用到点云的实时显示，记录如下：

simpleVis(pcl::PointCloud::ConstPtr cloud, pcl::PointCloud::ConstPtr cloud2) {

boost::shared_ptr<:visualization::pclvisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

viewer->initCameraParameters();

int v1(0);

viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);

viewer->setBackgroundColor(0, 0, 0, v1);

viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);

pcl::visualization::PointCloudColorHandlerCustom single_color0(cloud, 255, 0, 255);

viewer->addPointCloud(cloud, single_color0, "sample cloud0", v1);

int v2(0);

viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);

viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);

viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);

pcl::visualization::PointCloudColorHandlerCustom single_color(cloud, 0, 255, 0);

viewer->addPointCloud(cloud, single_color, "sample cloud", v2);

viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud0");

viewer->addCoordinateSystem(1.0);

return (viewer);

}

调用的时候

boost::shared_ptr<:visualization::pclvisualizer> viewer;

//点云实时显示

viewer = simpleVis(cloud1, cloud1);

while (!viewer->wasStopped())

{

…

pcl::visualization::PointCloudColorHandlerCustom add_color1(cloud_cluster, rand() % 255, rand() % 255, rand() % 255);//添加随机颜色

//更新到窗口sample cloud0

viewer->updatePointCloud<:pointxyz>(cloud_cluster, add_color1, “sample cloud0”);

viewer->spinOnce(100);

}

注意：

viewer->spinOnce(100);

一定要记得放在合适的位置，否则无法显示