【PCL学习笔记】多窗口显示

最新推荐文章于 2024-02-21 22:59:46 发布

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最新推荐文章于 2024-02-21 22:59:46 发布

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分类专栏： Pcl c++

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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>  //  //PCL可视化的头文件


int main(int argc, char **argv)
{


	pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPtr(new pcl::PointCloud<pcl::PointXYZRGB>);
	//pcl::PointCloud<pcl::PointXYZ> &pointCloud = *pointCloudPtr;

	pcl::io::loadPCDFile("ism_train_horse.pcd", *pointCloudPtr);

	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 
	viewer->initCameraParameters();
	//创建视窗的标准代码

	//第一个窗口显示内容进行设定
	int v1(0);
	viewer->createViewPort(0.0,0.0,0.5,1.0,v1);
	viewer->setBackgroundColor(0, 0, 0, v1);
	viewer->addText("viewer_01", 10, 10, "v1 text", v1);
	pcl::visualization::PointCloudColorHandlerCustom < pcl::PointXYZRGB>	rgb(pointCloudPtr, 255, 0, 0);
	//pcl::visualization::PointCloudColorHandlerRGBField < pcl::PointXYZRGB>	rgb(pointCloudPtr);
	viewer->addPointCloud<pcl::PointXYZRGB>(pointCloudPtr, rgb, "sample cloud1", v1);

	//第二个显示内容进行设定
	int v2(1);
	viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
	viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
	viewer->addText("viewer_02", 10, 10, "v2 text", v2);
	pcl::visualization::PointCloudColorHandlerCustom < pcl::PointXYZRGB>	single_color(pointCloudPtr, 0, 255, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(pointCloudPtr, single_color, "sample cloud2", v2);

	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"sample cloud1");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");
	viewer->addCoordinateSystem(1.0);
	
	//viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (pointCloudPtr, normals1,10,0.05,"normals1",v1);

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return (0);
}