点云可视化

最新推荐文章于 2024-09-21 22:24:40 发布

wtj318_

最新推荐文章于 2024-09-21 22:24:40 发布

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分类专栏： ros pcl

本文链接：https://blog.csdn.net/wtj318_/article/details/82856914

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本文主要介绍了点云数据的可视化方法，通过使用cloudviewer工具，展示如何有效地呈现三维点云数据，为理解和分析提供直观视图。

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一、简单的cloudviewer

#include<pcl/visualiization/cloud_viewer.h>
void foo()
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr  cloud;
   pcl::visualization::CloudViewer viewer(“Simple Cloud Viewer”);
   viewer.showCloud(cloud);
   while(!viewer.wasStopped())
{
}

#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>

int user_data;

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(125,0,255);
pcl::PointXYZ o;
o.x=0;
o.y=0;
o.z=0;
viewer.addSphere(o,0.5,12,13,24,"sphere",0); //添加球体
// viewer.addText("Radius:0.5",0.4,0.3,1.0,2,3,"wtjtest");
std::cout<<"i only run once" <<std::endl;
}

void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count=0;
std::stringstream ss;
ss <<"Once per viewer loop:" <<count++;
viewer.removeShape("text",0); //删除用于刷新
viewer.addText(ss.str(),200,300,"text",0);
user_data++;
} 

int main()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile("data/1.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
viewer.showCloud(cloud);
viewer.runOnVisualizationThreadOnce(viewerOneOff);
viewer.runOnVisualizationThread(viewerPsycho);
while(!viewer.wasStopped())
{
user_data++;
}
return 0;
}

#include <iostream>

#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>

// --------------
// -----Help-----
// --------------
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";
}

//.........................................//
//..............可视化单个点云................//
//.........................................//
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point cloud-----
  // --------------------------------------------
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));  
  //创建视窗对象并给标题（3D viewer）,将它定义为boost::shared_ptr 智能共享指针，可以保证该指针在整个程序全局使用，而不引起内存错误。
  viewer->setBackgroundColor (12,13,24);
  //设置背景色
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  //important,将点云添加到视窗对象，并定义唯一的ID号，如更新点云的ID号，先调用removePointCloud(),并提供需要更新的点云的ID号
  viewer->setPointC