(1):引用:仅仅是简单的显示点云,可以使用CloudViewer类。这个类非常简单易用。但要注意,它不是线程安全的。如果要用于多线程,还要参考PCLVisualizer。
需要注意的是,PointCloud的数据类型要和PCD文件中或者代码中的PointT一致!
并且:CloudViewer除了显示什么也不能干.
显示代码为:
pcl::visualization::CloudViewer viewer ("Cluster viewer"); viewer.showCloud(colored_cloud); while (!viewer.wasStopped ()) { }
(2):PCLVisualizer详细使用规则
简单函数解释: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); } 鼠标事件:键盘交互: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); } }调用函数为: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; } }摄像头初始化函数:viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer); viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); viewer->initCameraParameters ();
后记:
具体的使用方法还有很多,参见官方文档。