《PCL点云库学习&VS2010(X64)》Part 8 PCL1.72（VTK6.2.0）可视化例程

Part 8 PCL1.72（VTK6.2.0）可视化例程                                                                                               

PCL1.72

VTK6.20

控制台程序

加入.props属性表文件

1、Cloud_Viewer

Cloud_Viewer.cpp代码：

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

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

int user_data;
void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);
pcl::PointXYZ o;
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere(o, 0.25, "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);//this is to set the coordination of text "Once per viewer loop:"
//FIXME : possible race condition here
user_data++;
}

int
main()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile("maize.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//showCloud 函数是同步的，在此处等待直到渲染显示为止
viewer.showCloud(cloud);
//该注册函数在可视化时只调用一次
viewer.runOnVisualizationThreadOnce(viewerOneOff);
//该注册函数在渲染输出是每次都调用
viewer.runOnVisualizationThread(viewerPsycho);
while (!viewer.wasStopped())
{
//在此处可以添加其他处理
user_data++;
}
return 0;
}

编译，运行：



2、控制台程序：pcl_visualizer_demo
注意：
1）报错 Error C4996"fopen" 在属性——预处理器——预处理器定义中，添加_CRT_SECURE_NO_WARNINGS命令，重新编译即可通过。
2）头文件前面加入

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

3）viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");

这句是产生点云数据的代码，注释掉后，界面中就没有点云可显示。

4）viewer->addPointCloudNormals<pcl::PointXYZRGB,
pcl::Normal> (cloud, normals, 10, 0.05, "normals");

这句是为点云添加法线，这行代码放在绘制点云的代码后面，即可实现对点云法线的显示。
一旦用户计算得到法线，只需要一行程序在视窗中就可以显示这些法线，该显示法线成员方法的参数有法线显示的个数(这里，每 10 个点显示一个)及每个法线的长度
(在这个例子中是 0.05，当然用户可以自行调整为这些参数)。

5）//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");

上面几行代码将添加绘制平面 。 在本例中我们用标准的平面方程 （ ax + by + cz+d =0 ）来定义平面，这个平面以原点为中心，方向沿
Z 方向，许多绘制形状的函数都采用这种定义系数的方法来定义形状。

6）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");

利用模型系数指定锥形的参数。

7）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);

第一句是Vieweport的默认位置，第二句是设置视口的代码，第三句设置背景色，第四句添加文字。

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

pcl_visualizer_demo.cpp代码：

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

/* \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>
// 帮助
void
printUsage (const char* progName)
{
std::cout << "\n\nUsage: "<<progName<<" [options]\n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-h           this help\n"
<< "-s           Simple visualisation example\n"
<< "-r           RGB colour visualisation example\n"
<< "-c           Custom colour visualisation example\n"
<< "-n           Normals visualisation example\n"
<< "-a           Shapes visualisation example\n"
<< "-v           Viewports example\n"
<< "-i           Interaction Customization example\n"
<< "\n\n";
}

//Simple visualisation example
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);
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);
}

//RGB colour visualisation example
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);
}

//Custom colour visualisation example
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);
}

//Normals visualisation example
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);
}

//Shapes visualisation example
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);
}

//Viewports example
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);
}
}

//Interaction Customization example
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)
{
// 解析命令行参数
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
{
printUsage (argv[0]);
return 0;
}
bool simple(false), rgb(false), custom_c(false), normals(false),
shapes(false), viewports(false), interaction_customization(false);
if (pcl::console::find_argument (argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl::console::find_argument (argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage (argv[0]);
return 0;
}
// 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 = 0.5 * 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));
}
}

调试运行：

F5或者Ctrl+F5是没有作用的，需要在控制台中运行
1）Win+r，确定，进入控制台
2）输入：cd /d D:\PCLWorkspace\7\pcl_visualizer_demo\Debug
3）输入：pcl_visualizer_demo.exe -s
可以观察第一个例程，其他的例子操作类似。

运行结果：
simple:



RGB:



Custom:



Normals:



Shape:



Viewerports:



Interaction:



3、PCL可视化窗口的一些常用快捷键操作，有的在VTK界面中也是可以的：
r键: 重现视角。如果读入文件没有在主窗口显示，不妨按下键盘的r键一试。

j键：截图功能。

g键：显示/隐藏 坐标轴。

鼠标：左键，使图像绕自身旋转; 滚轮, 按住滚轮不松，可移动图像，滚动滚轮，可放大/缩小 图像; 右键,“原地” 放大/缩小。

-/+：-（减号）可缩小点; +(加号)，可放大点。

4、两点间划线例程，其实就是显示两点直线：

       在pcl中, 有一类可以画两点之间线段的函数，绘制点之间连线的方法十分有用，例如，显示两组点云之间的对应点关系时，可方便用户直观的观看点云之间的对应关系。它是可视化函数pcl::visualizeton的一员：

#include <iostream>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
#include <boost/thread/thread.hpp>
using namespace std;
typedef pcl::PointCloud<pcl::PointXYZ> pointcloud;
int main(int argc, char *argv[])
{
pointcloud::Ptr cloud (new pointcloud);
pcl::PointXYZ a, b, z;
a.x = 0;
a.y = 0;
a.z = 0;
b.x = 5;
b.y = 8;
b.z = 10;
z.x = 4;
z.y = 3;
z.z = 20;

boost::shared_ptr<pcl::visualization::PCLVisualizer> view (new pcl::visualization::PCLVisualizer ("line Viewer"));
view->setBackgroundColor(r,g,b); //背景色
view->addLine<pcl::PointXYZ>(a,b,"line");
view->addLine<pcl::PointXYZ> (a,z,255,0,0,"line1"); //红色线段,线的名字叫做"line1"
view->addArrow<pcl::PointXYZ> (b,z,255,0,0,"arrow"); //带箭头
while (!view->wasStopped ())
{
view->spinOnce(100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));

}

return 0;
}

      上面程序主要是画了两条线段，a-b,名字叫做“line”; a-z. 名字叫做"line1"其中a-z为红色，在addLine<PointT>函数中，其原型为
addLine(p1,p2,r,g,b, "viewport");

addArrow(b,z,r,g,b,"id name"), 

       主要是画出从b指向z的带箭头的线段，其颜色由用户指定，也可默认。

5、PCL可视化类显示直方图，

1）以FPFH为例，可以这样做,注意这边的用histogram_visualizer.h里的函数：

#include <pcl/visualization/histogram_visualizer.h> //直方图的可视化
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_plotter.h>
int main (int argc, char **argv)
{
....
直方图计算
....

pcl::visualization::PCLHistogramVisualizer view;
view.setBackgroundColor(255,0,0);
view.addFeatureHistogram<pcl::FPFHSignature33> (*fpfhs,"fpfh",1000);//对下标为1000的元素可视化
//view.spinOnce(10000); //循环的次数
view.spin(); //无限循环
return 0;
}2）也可以用pcl_plotter.h中的plotter函数来画直方图，需要在添加头文件#include <pcl/visualization/pcl_plotter.h>：
#include <pcl/visualization/pcl_plotter.h>

……

pcl::visualization::PCLPlotter plotter;
// We need to set the size of the descriptor beforehand.
plotter.addFeatureHistogram(*fpfhs, 300); //设置的很坐标长度，该值越大，则显示的直方图越细致
plotter.plot();