点云视窗类CloudViewer是简单显示点云的可视化工具类，可以让用户用尽可能少的代码查看点云。注意：点云视窗类不能应用于多线程应用程序中。
有关CloudViewer类的成员变量和函数等等，可以C:\Program
Files\PCL 1.6.0\include\pcl-1.6\pcl\visualization\impl目录下的pcl_visualizer.hpp文件中查看。
/*
*PCL安装和环境配置请参考：
*代码出处：
*代码中加载的点云文件my_point_cloud.pcd，可以去下面地址复制粘贴：
*/
一、PCL程序：圆球几何体
#include
#include
#include
#include
int user_data;
void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
//设置背景颜色
viewer.setBackgroundColor (1.0, 0.5, 1.0);
//球体坐标
pcl::PointXYZ o;
o.x = 0;
o.y = 0;
o.z = 0;
//添加球体
viewer.addSphere (o, 1, "sphere", 0);
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);
viewer.addText (ss.str(), 200, 300, "text", 0);
//FIXME: possible race condition here:
user_data++;
}
int main ()
{
pcl::PointCloud<:pointxyzrgba>::Ptr cloud (new pcl::PointCloud<:pointxyzrgba>);
pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud); //加载点云文件
pcl::visualization::CloudViewer viewer("Cloud Viewer");//创建viewer对象
//blocks until the cloud is actually rendered
viewer.showCloud(cloud);
//use the following functions to get access to the underlying more advanced/powerful
//PCLVisualizer
//This will only get called once
viewer.runOnVisualizationThreadOnce (viewerOneOff);
//This will get called once per visualization iteration
viewer.runOnVisualizationThread (viewerPsycho);
while (!viewer.wasStopped ())
{
//you can also do cool processing here
//FIXME: Note that this is running in a separate thread from viewerPsycho
//and you should guard against race conditions yourself...
user_data++;
}
return 0;
}
因为代码量很大，本文中只是列出圆体几何体代码中所涉及到CloudViwer类中的函数。
1.viewer.addSphere ()；
代码原型：
template bool
pcl::visualization::PCLVisualizer::addSphere (const PointT ¢er, double radius, double r, double g, double b, const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
PCL_WARN ("[addSphere] A shape with id already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}
//vtkSmartPointer data = createSphere (center.getVector4fMap (), radius);
vtkSmartPointer data = vtkSmartPointer::New ();
data->SetRadius (radius);
data->SetCenter (double (center.x), double (center.y), double (center.z));
data->SetPhiResolution (10);
data->SetThetaResolution (10);
data->LatLongTessellationOff ();
data->Update ();
// Setup actor and mapper
vtkSmartPointer mapper = vtkSmartPointer::New ();
mapper->SetInputConnection (data->GetOutputPort ());
// Create an Actor
vtkSmartPointer actor = vtkSmartPointer::New ();
actor->SetMapper (mapper);
//createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetInterpolationToGouraud ();
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (r, g, b);
addActorToRenderer (actor, viewport);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
template bool
pcl::visualization::PCLVisualizer::addSphere (const PointT ¢er, double radius, const std::string &id, int viewport)
{
return (addSphere (center, radius, 0.5, 0.5, 0.5, id, viewport));
}
//暂时其他的函数找起来有点头疼，慢慢再找ing....
