PCLVisualizer

最新推荐文章于 2025-06-21 08:42:45 发布

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最新推荐文章于 2025-06-21 08:42:45 发布 · 5.1k 阅读

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PCLVisualizer是PCL库中的一个强大可视化工具，能展示法线、绘制形状和多视口。本文通过代码示例介绍了如何使用PCLVisualizer显示单个点云、设置背景颜色、显示轴，以及如何处理RGB点云、自定义颜色、显示法线、绘制形状、使用多个视口和实现交互定制。示例涵盖了从基础到高级的各种功能，帮助理解PCLVisualizer的使用。

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PCLVisualizer是PCL的全功能可视化类。虽然使用比CloudViewer更复杂，但功能也更强大，提供了显示法线，绘图形状和多个视口等功能。

本教程将使用代码示例来说明PCLVisualizer的一些功能，从显示单个点云开始。大部分代码示例都是样板文件，用于设置将被可视化的点云。每个样本的相关代码都包含在特定于该样本的函数中。代码如下所示。将其复制保存到文件名为pcl_visualizer_demo.cpp中。

/* \author Geoffrey Biggs */


#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";
}


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"));
  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);
  viewer->initCameraParameters ();
  return (viewer);
}


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);
  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)
{
  // --------------------------------------------
  // -----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::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)
{
  // --------------------------------------------------------
  // -----Open 3D viewer and add point cloud and 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");
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}


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, "sam