PCL 库中的pcl::visualization::PCLVisualizer类彩色显示点云

#include <pcl/io/openni_grabber.h>

#include <pcl/visualization/cloud_viewer.h>

#include <pcl/visualization/pcl_visualizer.h>

#include <pcl/io/io.h>

#include <pcl/common/time.h>

#include <pcl/features/integral_image_normal.h>

#include <pcl/features/normal_3d.h>

#include <pcl/ModelCoefficients.h>

#include <pcl/segmentation/planar_region.h>

#include <pcl/segmentation/organized_multi_plane_segmentation.h>

#include <pcl/segmentation/organized_connected_component_segmentation.h>

#include <pcl/filters/extract_indices.h>

typedef pcl::PointXYZRGBA PointT;

class OpenNIOrganizedMultiPlaneSegmentation

{

private:

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;

pcl::PointCloud<PointT>::ConstPtr prev_cloud;

boost::mutex cloud_mutex;

public:

OpenNIOrganizedMultiPlaneSegmentation ()

{

}

~OpenNIOrganizedMultiPlaneSegmentation ()

{

}

boost::shared_ptr<pcl::visualization::PCLVisualizer>

cloudViewer (pcl::PointCloud<PointT>::ConstPtr cloud)

{

boost::shared_ptr < pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("Viewer"));

viewer->setBackgroundColor (0, 0, 0);

viewer->addPointCloud<PointT> (cloud,"cloud");

viewer->addCoordinateSystem (1.0, "global");

viewer->initCameraParameters ();

return (viewer);

}

void

cloud_cb_ (const pcl::PointCloud<PointT>::ConstPtr& cloud)

{

if (!viewer->wasStopped ())

  {

cloud_mutex.lock ();

prev_cloud = cloud;

cloud_mutex.unlock ();

  }

}

void

run ()

{

pcl::Grabber* interface = new pcl::OpenNIGrabber ();

boost::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = boost::bind (&OpenNIOrganizedMultiPlaneSegmentation::cloud_cb_, this, _1);

//make a viewer

pcl::PointCloud<PointT>::Ptr init_cloud_ptr (new pcl::PointCloud<PointT>);

viewer = cloudViewer (init_cloud_ptr);

boost::signals2::connection c = interface->registerCallback (f);

interface->start ();

while (!viewer->wasStopped ())

  {

viewer->spinOnce (100);

if (prev_cloud && cloud_mutex.try_lock ())

{

viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");

pcl::visualization::PointCloudColorHandlerRGBField<PointT> color (prev_cloud);

if (!viewer->updatePointCloud<PointT> (prev_cloud, color,"cloud"))

viewer->addPointCloud<PointT> (prev_cloud, color,"cloud");

  cloud_mutex.unlock ();

}

  }

interface->stop ();

}

};

int

main ()

{

OpenNIOrganizedMultiPlaneSegmentation multi_plane_app;

multi_plane_app.run ();

return 0;

}