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PCL Visualizer可视化类

独兜曲 2022-04-29 阅读 63
PCLc++

PCL Visualizer可视化类

以下内容参照《点云库PCL从入门到精通》第5章 以及 PCL官方文档：pcl_visualizer_demo.cpp https://pcl.readthedocs.io/projects/tutorials/en/master/pcl_visualizer.html

1. PCLVisualizer类

  • PCLVisualizer 类是PCL的一个功能非常全面的可视化类。它比 CloudViewer 更复杂，功能也更强大。
  • PCLVisualizer 类可以提供显示发现、绘制图形、多窗口视图的功能。

2. 示例代码

  • 可视化单个点云
    在这里插入图片描述

  • 可视化点云颜色特征
    在这里插入图片描述

  • 可视化点云自定义颜色特征
    在这里插入图片描述

  • 可视化点云法线和其他特征
    在这里插入图片描述

  • 绘制普通图形
    在这里插入图片描述

  • 多视图显示
    在这里插入图片描述

  • 自定义交互
    总是报错，暂时没解决。

  • pcl_visualizer_demo.cpp

/* \author Geoffrey Biggs */

#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>

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);

//最基本的点云可视化操作
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);	//设置视窗背景色
	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)
{
	//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);
	viewer->initCameraParameters();
	return (viewer);
}

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::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)
{
	//创建3D窗口并添加点云其包括法线  
	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)
{
	//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);
	viewer->initCameraParameters();
	//在点云上添加直线和球体模型
	viewer->addLine<pcl::PointXYZRGB>(cloud->points[0],
		cloud->points[cloud->size() - 1], "line");
	viewer->addSphere(cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");
	//在其他位置添加基于模型参数的平面及圆锥体
	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");
	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");

	return (viewer);
}


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)
{
	// 创建3D窗口并添加显示点云其包括法线
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->initCameraParameters();
	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)
{
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<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)
{
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<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);
	viewer->registerMouseCallback(mouseEventOccurred, (void*)&viewer);

	return (viewer);
}
// -----Main-----
int main(int argc, char** argv)
{
	bool simple(false);		//可视化单个点云
	bool rgb(false);		//可视化点云颜色特征
	bool custom_c(false);	//可视化点云自定义颜色特征
	bool normals(false);	//可视化点云法线和其他特征
	bool shapes(false);		//绘制普通图形
	bool viewports(true);  //多视图显示
	//bool interaction_customization(true); //自定义交互

	// 自行创建一随机点云
	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";

	// 以椭圆为边线沿z轴拉伸获取其点云，并赋予红绿蓝渐变色。
	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 = 0.7 * 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;

	// 0.05为搜索半径获取点云法线
	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);

	//  0.1为搜索半径获取点云法线
	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();
	//}
	// 主循环
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	system("Pause");
}

3. 报错处理

  • no override found for vtkactor
    https://blog.csdn.net/weixin_50514372/article/details/116884735
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