可视化八叉树程序（根据PCL官方示例修改）
最近在研究八叉树，看到了pcl有八叉树可视化程序，但是在我的电脑上运行不成功（pcl可视化体素是通过VTK，这个可能是主要原因），因此找到程序的源码进行了一些修改，成功实现八叉树可视化。
配置：PCL1.8.0+VTK8.0+VS2015
修改的八叉树可视化程序，主要有以下几个部分：
1.图例
2.按键回调
3.可视化八叉树
4.线框模式和实体表面模式
5.点模式
通过图例可以很好的操作程序，下面直接放上源码：
#include GetCuboid(double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
//{
// vtkSmartPointer cube = vtkSmartPointer::New();
// cube->SetBounds(minX, maxX, minY, maxY, minZ, maxZ);
// return cube->GetOutput();
//}
/* \brief display octree cubes via vtk-functions
*
*/
void showCubes(double voxelSideLen)
{
//get the renderer of the visualizer object
//vtkRenderer *renderer = viz.getRenderWindow()->GetRenderers()->GetFirstRenderer();
//
//vtkSmartPointer treeWireframe = vtkSmartPointer::New();
size_t i;
double s = voxelSideLen / 2.0;
for (i = 0; i < displayCloud->points.size(); i++)
{
double x = displayCloud->points[i].x;
double y = displayCloud->points[i].y;
double z = displayCloud->points[i].z;
viz.addCube(x - s, x + s, y - s, y + s, z - s, z + s,0.5,0.5,0.5,"cube"+std::to_string(i));
//#if VTK_MAJOR_VERSION < 6
// treeWireframe->AddInput(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
//#else
// treeWireframe->AddInputData(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
//#endif
}
//
// vtkSmartPointer treeActor = vtkSmartPointer::New();
//
// vtkSmartPointer mapper = vtkSmartPointer::New();
//#if VTK_MAJOR_VERSION < 6
// mapper->SetInput(treeWireframe->GetOutput());
//#else
// mapper->SetInputData(treeWireframe->GetOutput());
//#endif
// treeActor->SetMapper(mapper);
//
// treeActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
// treeActor->GetProperty()->SetLineWidth(2);
if (wireframe)
{
viz.setRepresentationToWireframeForAllActors();
//treeActor->GetProperty()->SetRepresentationToWireframe();
//treeActor->GetProperty()->SetOpacity(0.35);
}
else
viz.setRepresentationToSurfaceForAllActors();
//treeActor->GetProperty()->SetRepresentationToSurface();
//
// renderer->AddActor(treeActor);
}
/* \brief Extracts all the points of depth = level from the octree
*
*/
void extractPointsAtLevel(int depth)
{
displayCloud->points.clear();
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::Iterator tree_it;
pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZ>::Iterator tree_it_end = octree.end();
//pcl::octree::OctreePointCloudVoxelCentroid::DepthFirstIterator tree_it;
pcl::PointXYZ pt;
std::cout << "===== Extracting data at depth " << depth << "... " << std::flush;
double start = pcl::getTime();
for (tree_it = octree.begin(depth); tree_it != tree_it_end; ++tree_it)
{
//if (tree_it.isBranchNode())
//{
// pcl::octree::OctreeBranchNode* branch=tree_it.getCurrentOctreeNode();
//}
if (tree_it.getCurrentOctreeDepth()!=depth)
{
continue;
}
Eigen::Vector3f voxel_min, voxel_max;
octree.getVoxelBounds(tree_it, voxel_min, voxel_max);
pt.x = (voxel_min.x() + voxel_max.x()) / 2.0f;
pt.y = (voxel_min.y() + voxel_max.y()) / 2.0f;
pt.z = (voxel_min.z() + voxel_max.z()) / 2.0f;
displayCloud->points.push_back(pt);
}
double end = pcl::getTime();
printf("%lu pts, %.4gs. %.4gs./pt. =====\n", displayCloud->points.size(), end - start,
(end - start) / static_cast<double> (displayCloud->points.size()));
update();
}
/* \brief Helper function to increase the octree display level by one
*
*/
bool IncrementLevel()
{
if (displayedDepth < static_cast<int> (octree.getTreeDepth()))
{
displayedDepth++;
extractPointsAtLevel(displayedDepth);
return true;
}
else
return false;
}
/* \brief Helper function to decrease the octree display level by one
*
*/
bool DecrementLevel()
{
if (displayedDepth > 0)
{
displayedDepth--;
extractPointsAtLevel(displayedDepth);
return true;
}
return false;
}
};
int main(int argc, char ** argv)
{
//防止VTK的警告
//vtkOutputWindow::SetGlobalWarningDisplay(0);
std::string cloud_path("bunny.pcd");
OctreeViewer v(cloud_path, 0.01);
}
生成结果如下图：
