PCL：Visualizer 可视化❤️多视口显示

Posted 2021-09-13 没事就要敲代码

文章目录

• • 1 双视口可视化
  • • 1.1 代码实现
    • 1.2 结果展示
    • 1.3 关键代码解释
  • 2 多视口可视化
  • • 2.1 代码实现
    • 2.2 结果展示

1 双视口可视化

1.1 代码实现

#include <iostream>
#include <pcl\\io\\pcd_io.h>
#include <pcl\\visualization\\pcl_visualizer.h>

using namespace std;

int main()
{
	//------------------------------------ 加载点云 ---------------------------------
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	pcl::PCDReader reader;	
	if (reader.read("tree.pcd", *cloud) < 0)
	{
		PCL_ERROR("\\a->点云文件不存在！\\n");
		system("pause");
		return -1;
	}
	cout << "->加载了 " << cloud->points.size() << " 个数据点" << endl;
	//==============================================================================


	//----------------------------- Visualizer 可视化 ------------------------------
	///必选
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Visualizer_Viewer")); //创建视窗对象，定义标题栏名称“3D Viewer”

	//-----视口1-----
	int v1(0);
	viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); //设置第一个视口在X轴、Y轴的最小值、最大值，取值在0-1之间
	viewer->setBackgroundColor(0, 0, 0, v1);
	viewer->addText("RGB", 10, 10, "v1_text", v1);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, "cloud1", v1);


	//-----视口2-----
	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("green", 10, 10, "v2 text", v2);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "cloud2", v2);

	//-----设置相关属性(可选)-----
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud1", v1);
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud2", v2);


	///必选
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	//==============================================================================

	return 0;
}

1.2 结果展示

1.3 关键代码解释

• viewer->createViewPort()的五个参数依次为视口在X坐标的最小值、Y坐标的最小值、X坐标的最大值、Y坐标的最大值、视口ID

...
int v1(0);
viewer->createViewPort (0.0, 0.0, 0.5, 1.0, v1);
...

2 多视口可视化

在知道 viewer->createViewPort() 的五个参数的具体意义之后，那么显示多个视口就很容易了，只要正确设置视口范围即可。

可视化视窗坐标系如下图所示：

2.1 代码实现

#include <iostream>
#include <pcl\\io\\pcd_io.h>
#include <pcl\\visualization\\pcl_visualizer.h>

using namespace std;

int main()
{
	//------------------------------------ 加载点云 ---------------------------------
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	pcl::PCDReader reader;	
	if (reader.read("tree.pcd", *cloud) < 0)
	{
		PCL_ERROR("\\a->点云文件不存在！\\n");
		system("pause");
		return -1;
	}
	cout << "->加载了 " << cloud->points.size() << " 个数据点" << endl;
	//==============================================================================


	//----------------------------- Visualizer 可视化 ------------------------------
	///必选
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Multiple_Viewports")); //创建视窗对象，定义标题栏名称“3D Viewer”

	//-----视口1-----
	int v1(0);
	viewer->createViewPort(0.0, 0.0, 0.33, 0.67, v1);
	viewer->setBackgroundColor(0, 0, 0, v1);
	viewer->addText("RGB", 10, 10, "v1 text", v1);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, "sample_cloud1", v1);

	//-----视口2-----
	int v2(0);
	viewer->createViewPort(0.67, 0.0, 1.0, 0.67, v2);
	viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
	viewer->addText("green", 10, 10, "v2 text", v2);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color2(cloud, 0, 255, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color2, "sample cloud2", v2);

	//-----视口3-----
	int v3(0);
	viewer->createViewPort(0.33, 0.67, 1.0, 1.0, v3);
	viewer->setBackgroundColor(0.3, 0.0, 0.0, v3);
	viewer->addText("blue", 10, 10, "v3 text", v3);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color3(cloud, 0, 0, 255);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color3, "sample cloud3", v3);

	//-----视口4-----
	int v4(0);
	viewer->createViewPort(0.0, 0.33, 0.33, 1.0, v4);
	viewer->setBackgroundColor(0.0, 0.3, 0.0, v4);
	viewer->addText("red", 10, 10, "v4 text", v4);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color4(cloud, 255, 0, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color4, "sample cloud4", v4);

	//-----视口5-----
	int v5(0);
	viewer->createViewPort(0.33, 0.33, 0.67, 0.67, v5);
	viewer->setBackgroundColor(0.0, 0.0, 0.3, v5);
	viewer->addText("yellow", 10, 10, "v5 text", v5);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color5(cloud, 255, 255, 0);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color5, "sample cloud5", v5);


	///必选
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	//==============================================================================

	return 0;
}

2.2 结果展示

---

相关链接

PCL点云数据处理基础❤️❤️❤️目录