PCL学习笔记（1）-可视化（2）--pcl_visualizer_demo

最新推荐文章于 2024-06-01 17:32:26 发布

yby1271

最新推荐文章于 2024-06-01 17:32:26 发布

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分类专栏： PCL 文章标签：可视化

本文链接：https://blog.csdn.net/yby1271/article/details/69524357

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出现的问题
..\pcl_visualizer_demo.cpp(35): error C2668: “pcl::visualization::PCLVisualizer::addCoordinateSystem”: 对重载函数的调用不明确
是这个函数：viewer->addCoordinateSystem (1.0); //添加坐标轴
改为：viewer->addCoordinateSystem (1.0，0)//在所有窗口中添加，详见P141
pcl_visualizer_demo.cpp

. #include <iostream>  
#include <boost/thread/thread.hpp>  
#include <pcl/common/common_headers.h>  
#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>  
// 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";  
}  

//Simple visualisation example  
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 (1.0,0);  
    viewer->initCameraParameters ();  
    return (viewer);  
}  

//RGB colour visualisation example  
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 (1.0,0);    
    viewer->initCameraParameters ();  
    return (viewer);  
}  

//Custom colour visualisation example  
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::