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->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
//设置点云大小
viewer->addCoordinateSystem (1.0);
//添加坐标系(X 红色、Y(绿色)、Z (蓝色),圆柱体的大小用scale(1)表示
viewer->initCameraParameters ();
//调用通过设置相机使用户从默认的角度和方向观察点云。
return (viewer);
}
//........................................//
//..........可视化点云颜色特征...............//
//........................................//
boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
// --------------------------------------------
// -----Open 3D viewer and add point cloud-----
// --------------------------------------------
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);
//创建颜色处理对象handlerrgb,pcl_visualizer类利用这样的对象显示自定义颜色数据。handler对象得到每个点云的RGB颜色字段。
viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
//添加点云时,指定添加到视窗的点云的处理对象着色处理对象。
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
viewer->addCoordinateSystem (1.0);
viewer->initCameraParameters ();
return (viewer);
}
//..........................................//
//...........可视化点云自定义颜色特征...........//
//..........................................//
//这里所用的点云类型是XYZ类型,不论所用的点云颜色是什么颜色,都可以为点云着自定义颜色
boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (12, 23, 24);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
//创建一个自定义颜色处理器对象,并设置颜色为纯绿色。
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);
}
//...........................................//
//............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)
{
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");
//法线显示个数(每10个点显示一个),法线的长度(0.05)
viewer->addCoordinateSystem (1.0);
viewer->initCameraParameters ();
return (viewer);
}
//........................................//
//..............绘制普通形状................//
//.............. 四种形状:...............//
//.......从点云第一个点到最后一个点之间的连线、原点所在平面、以点云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)
{
// --------------------------------------------
// -----Open 3D viewer and add point cloud-----
// --------------------------------------------
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 ();
//------------------------------------
//-----Add shapes at cloud points-----
//------------------------------------
viewer->addLine<pcl::PointXYZRGB> (cloud->points[0],cloud->points[cloud->size() - 1], "line");
//从点云第一个点到最后一个点之间的连线
viewer->addSphere (cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
//添加以第一个点云为中心,半径为0.2的球体,同时也可为该球体自定义颜色。
//---------------------------------------
//-----Add shapes at other locations-----
//---------------------------------------
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");
//绘制平面,在本例中我们用标准的平面方程(ax+by+cz+d=0)来定义平面,这个平面以原点在中心,方向沿Z方向,许多绘制形状的函数都采用这种定义系数的方法来定义形状。
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");
//添加锥形,利用模型系数指定锥形的参数。
return (viewer);
}
//.........................................//
//..............多视口显示...................//
//.........................................//
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)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->initCameraParameters ();
//创建视窗的标准代码。
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)
{
pcl::visualization::PCLVisualizer *viewer = static_cast<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)
{
pcl::visualization::PCLVisualizer *viewer = static_cast<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.get ());
viewer->registerMouseCallback (mouseEventOccurred, (void*)viewer.get ());
return (viewer);
}
// --------------
// -----Main-----
// --------------
int
main (int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
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;
}
// ------------------------------------
// -----Create example point cloud-----
// ------------------------------------
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";
// We're going to make an ellipse extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
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;
// ----------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.05-----
// ----------------------------------------------------------------
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);
// ---------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.1-----
// ---------------------------------------------------------------
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();
}
//--------------------
// -----Main loop-----
//--------------------
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}