PCL1.8.1 可視化

可視化點雲

#include <pcl/visualization/cloud_viewer.h>

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

pcl::visualization::CloudViewer viewer("Viewer");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{
}

可視化多個點雲

pcl::visualization::PCLVisualizer 增長多個點雲到該可視化界面上。

pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>());


pcl::visualization::PCLVisualizer viewer ("Matrix transformation example");

// Define R,G,B colors for the point cloud
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler (source_cloud, 255, 255, 255);
// We add the point cloud to the viewer and pass the color handler
viewer.addPointCloud (source_cloud, source_cloud_color_handler, "original_cloud");

pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> transformed_cloud_color_handler (transformed_cloud, 230, 20, 20); // Red
viewer.addPointCloud (transformed_cloud, transformed_cloud_color_handler, "transformed_cloud");

//顯示座標軸oxyz  Red:x   Green:y  Blue:z  比例尺度1.0  
viewer.addCoordinateSystem (1.0, "cloud", 0);
viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Setting background to a dark grey
//設置點的大小
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, "original_cloud");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, "transformed_cloud");
//viewer.setPosition(800, 400); // Setting visualiser window position

while (!viewer.wasStopped ()) 
{ 
// Display the visualiser until 'q' key is pressed
    viewer.spinOnce ();
}

程序模塊化

將可視化函數封裝成一個函數：simpleVis()

#include <pcl/visualization/pcl_visualizer.h>

pcl::visualization::PCLVisualizer::Ptr simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	// --------------------------------------------
	// -----Open 3D viewer and add point cloud-----
	// --------------------------------------------
	pcl::visualization::PCLVisualizer::Ptr 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, 3, "sample cloud");
	//viewer->addCoordinateSystem (1.0, "global");
	viewer->initCameraParameters();
	return (viewer);
}

int main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::PCLVisualizer::Ptr viewer;
	viewer = simpleVis(cloud);
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		std::this_thread::sleep_for(100ms);
	}
}

可視化法向量

#include <pcl/visualization/cloud_viewer.h>


pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);

// visualize normals
pcl::visualization::PCLVisualizer viewer("PCL Viewer");
viewer.setBackgroundColor (0.0, 0.0, 0.5);
viewer.addPointCloudNormals<pcl::PointXYZ,pcl::Normal>(cloud, normals);

while (!viewer.wasStopped ())
{
  viewer.spinOnce ();
}