7.3.3 PCL Visualizer 可视化类

PCL可以显示法线，绘制多种形状和多个视口

直接在代码中完成注释   个别函数单独去注释

 

/* \author Geoffrey Biggs */

#include <iostream>
#include <boost/thread/thread.hpp>        //代表线程的头文件
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>       //3d 法线的
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>     //暂时不知道是什么？         
// 帮助
void
printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "<<progName<<" [options]\n\n"
            << "Options:\n"
            << "-------------------------------------------\n"
            << "-h           this help\n"
            << "-s           Simple visualisation example\n"
            << "-r           RGB colour visualisation example\n"
            << "-c           Custom colour visualisation example\n"
            << "-n           Normals visualisation example\n"
            << "-a           Shapes visualisation example\n"
            << "-v           Viewports example\n"
            << "-i           Interaction Customization example\n"
            << "\n\n";
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  //创建3D窗口并添加点云
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
  viewer->addCoordinateSystem (1.0);//以通过使用X（红色）
  Y（绿色 ）Z （蓝色）圆柱体代表坐标轴的显示方式来解决，圆柱体的大小可以通过scale参数来控制，本例中scale设置为1.0
  viewer->initCameraParameters ();
  return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
  //创建3D窗口并添加点云	
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
//创建3D窗口并添加点云
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, single_color, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis (
    pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)
{
  //创建3D窗口并添加点云其包括法线  
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals, 10, 0.05, "normals");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

//添加了四种形状：从点云中的一个点到最后一个点之间的连线，原点所在的平面，以点云中第一个点为中心的球体，沿Y轴的椎体
boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
   //创建3D窗口并添加点云    
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  //在点云上添加直线和球体模型
  viewer->addLine<pcl::PointXYZRGB> (cloud->points[0],
                                     cloud->points[cloud->size() - 1], "line");
  viewer->addSphere (cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
   //在其他位置添加基于模型参数的平面及圆锥体
   pcl::ModelCoefficients coeffs;
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (1.0);
  coeffs.values.push_back (0.0);
  viewer->addPlane (coeffs, "plane");
  coeffs.values.clear ();
  coeffs.values.push_back (0.3);
  coeffs.values.push_back (0.3);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (1.0);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (5.0);
  viewer->addCone (coeffs, "cone");

  return (viewer);
}


boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (
    pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2)
{
  // 创建3D窗口并添加显示点云其包括法线
   boost::shared_ptr<pcl::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::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud1", 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<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, 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> (cloud, normals1, 10, 0.05, "normals1", v1);
  viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals2, 10, 0.05, "normals2", v2);

  return (viewer);
}


unsigned int text_id = 0;
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
                            void* viewer_void)
{
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
  if (event.getKeySym () == "r" && event.keyDown ())
  {
    std::cout << "r was pressed => removing all text" << std::endl;

    char str[512];
    for (unsigned int i = 0; i < text_id; ++i)
    {
      sprintf (str, "text#%03d", i);
      viewer->removeShape (str);
    }
    text_id = 0;
  }
}

void mouseEventOccurred (const pcl::visualization::MouseEvent &event,
                         void* viewer_void)
{
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
  if (event.getButton () == pcl::visualization::MouseEvent::LeftButton &&
      event.getType () == pcl::visualization::MouseEvent::MouseButtonRelease)
  {
    std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;

    char str[512];
    sprintf (str, "text#%03d", text_id ++);
    viewer->addText ("clicked here", event.getX (), event.getY (), str);
  }
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis ()
{
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addCoordinateSystem (1.0);

  viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);
  viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);

  return (viewer);
}
// -----Main-----
int
main (int argc, char** argv)
{
  // 解析命令行参数
  if (pcl::console::find_argument (argc, argv, "-h") >= 0)
  {
    printUsage (argv[0]);
    return 0;
  }
  bool simple(false), rgb(false), custom_c(false), normals(false),
    shapes(false), viewports(false), interaction_customization(false);
  if (pcl::console::find_argument (argc, argv, "-s") >= 0)
  {
    simple = true;
    std::cout << "Simple visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-c") >= 0)
  {
    custom_c = true;
    std::cout << "Custom colour visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-r") >= 0)
  {
    rgb = true;
    std::cout << "RGB colour visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-n") >= 0)
  {
    normals = true;
    std::cout << "Normals visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-a") >= 0)
  {
    shapes = true;
    std::cout << "Shapes visualisation example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-v") >= 0)
  {
    viewports = true;
    std::cout << "Viewports example\n";
  }
  else if (pcl::console::find_argument (argc, argv, "-i") >= 0)
  {
    interaction_customization = true;
    std::cout << "Interaction Customization example\n";
  }
  else
  {
    printUsage (argv[0]);
    return 0;
  }
  // 自行创建一随机点云
  pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
  std::cout << "Genarating example point clouds.\n\n";
  // 以椭圆为边线沿z轴拉伸获取其点云，并赋予红绿蓝渐变色。
  uint8_t r(255), g(15), b(15);
  for (float z(-1.0); z <= 1.0; z += 0.05)
  {
    for (float angle(0.0); angle <= 360.0; angle += 5.0)
    {
      pcl::PointXYZ basic_point;
      basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));
      basic_point.y = sinf (pcl::deg2rad(angle));
      basic_point.z = z;
      basic_cloud_ptr->points.push_back(basic_point);

      pcl::PointXYZRGB point;
      point.x = basic_point.x;
      point.y = basic_point.y;
      point.z = basic_point.z;
      uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
              static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
      point.rgb = *reinterpret_cast<float*>(&rgb);
      point_cloud_ptr->points.push_back (point);
    }
    if (z < 0.0)
    {
      r -= 12;
      g += 12;
    }
    else
    {
      g -= 12;
      b += 12;
    }
  }
  basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
  basic_cloud_ptr->height = 1;
  point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
  point_cloud_ptr->height = 1;
  // 0.05为搜索半径获取点云法线
  pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
  ne.setInputCloud (point_cloud_ptr);
  pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
  ne.setSearchMethod (tree);
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);
  ne.setRadiusSearch (0.05);
  ne.compute (*cloud_normals1);
  //  0.1为搜索半径获取点云法线
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
  ne.setRadiusSearch (0.1);
  ne.compute (*cloud_normals2);

  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
  if (simple)
  {
    viewer = simpleVis(basic_cloud_ptr);
  }
  else if (rgb)
  {
    viewer = rgbVis(point_cloud_ptr);
  }
  else if (custom_c)
  {
    viewer = customColourVis(basic_cloud_ptr);
  }
  else if (normals)
  {
    viewer = normalsVis(point_cloud_ptr, cloud_normals2);
  }
  else if (shapes)
  {
    viewer = shapesVis(point_cloud_ptr);
  }
  else if (viewports)
  {
    viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
  }
  else if (interaction_customization)
  {
    viewer = interactionCustomizationVis();
  }
  // 主循环
  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}

1.boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)  

boost::shared_ptr是智能共享指针，这样定义的好处是该指针在程序全局使用；

//这个不是很懂，先放着  看头文件  估计可能和线程有关

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

创建一个叫做 viewer的PCLVisualizer  它的名字叫做3D Viewer；

3.   viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");

   这是最重要的一行，我们将点云添加到视窗对象中，并定一个唯一的字符串作为ID 号，利用此字符串保证在其他成员中也能
   标志引用该点云，多次调用addPointCloud可以实现多个点云的添加，，每调用一次就会创建一个新的ID号，如果想更新一个
   已经显示的点云，必须先调用removePointCloud（），并提供需要更新的点云ID 号；

4. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");

       主要是用于改变显示点云的尺寸

   setPointCloudRenderingProperties (int property, double value,
                                          const std::string &id = "cloud", int viewport = 0);

       /** \brief Get the rendering properties of a PointCloud
         * \param[in] property the property type
         * \param[in] value the resultant property value
         * \param[in] id the point cloud object id (default: cloud)
         * \note The list of properties can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
         */

其中PCL_VISUALIZER_POINT_SIZE是枚举中的一个值；

sample cloud 就是对应的ID；

5.  viewer->initCameraParameters ();//设置默认的摄像机参数（就是你怎么去看点云）

6. boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)

区别上面的主要是点的类型带有了RGB，如果没有，那么PCL将不能给点上色；

7.pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

创建了一个颜色处理对象

8. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");

可以指定添加到要上色的对象，"sample cloud"就相当于一个句柄；

9.boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)

主要为了演示怎么给点云单独上色；同时注意点云类型是pcl::PointXYZ （不需要带RGB）

10.  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);  直接设置成了绿色；

11.  viewer->addPointCloud<pcl::PointXYZ> (cloud, single_color, "sample cloud"); 同上例子

12.  主要是可视化点云法线和其他特征

boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis (
    pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)

两个参数  一个是点云  一个是法线；

13. viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals, 10, 0.05, "normals");

这个函数直接用来显示法线       具体的算法可以（alt+F12查看） 参数10 代表没10个显示其中一个点的法线  0.05表示长度；

14. //在点云上添加直线和球体模型
  viewer->addLine<pcl::PointXYZRGB> (cloud->points[0],cloud->points[cloud->size() - 1], "line");
  viewer->addSphere (cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");

15. pcl::ModelCoefficients coeffs;    定义模型参数coeffs

16. viewer->addCone (coeffs, "cone");   //Add a cube from a set of given model coefficients 目前不知道如何创建平面

17.boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud,             pcl::PointCloud<pcl::Normal>::ConstPtr normals1,pcl::PointCloud<pcl::Normal>::ConstPtr normals2）

    上面创建视窗代码的标准代码。

    （主要是要通过多视口比较点云）

18. createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport);

19.void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void* viewer_void)

这个函数的第一个参数是一个事件，这个事件有关键盘按下；

20.void mouseEventOccurred (const pcl::visualization::MouseEvent &event, void* viewer_void)

同样的，换成了鼠标事件

21.boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer=*static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);

*static_cast         //static_cast是一个计算机函数，功能是把expression转换为type-id类型，但没有运行时类型检查来保证转换的安全性。（百度的）

22.  viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer); //Register a callback function for keyboard           events
       viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer); //类似

       这里注意这些交互都是用函数实现的。这类事件都有一个回调函数有点像PCLVisualizer类；

 

---

下面是主函数

 // 以椭圆为边线沿z轴拉伸获取其点云，并赋予红绿蓝渐变色。

  pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
  ne.setSearchMethod (tree);

  首先还是建立了一个kd树结构

  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);
  ne.setRadiusSearch (0.05);
  ne.compute (*cloud_normals1);

  然后在求解法线；

  没了   虽然例子比较简单，但代码有点长，我用vs编译无法输入 ，一输入窗口就没了。后来用Linux 编译成功了；以后有机会来放图；这里的代码仔细推敲；哈哈！