PCL：如何更新 pcl::visualizer 中的法线云？

Posted 2023-02-18

【中文标题】PCL：如何更新 pcl::visualizer 中的法线云？

【英文标题】：PCL: How can I update the normals's cloud in pcl::visualizer?

【发布时间】：2013-08-15 09:53:33

【问题描述】：

我有一个线程可以在我处理它时可视化点云。 我还需要可视化法线，如何更新它们？

我找不到像普通云的 updateClouds 这样的东西。

void pclVisualizerThread::operator()()

    // prepare visualizer named "viewer"
    while (!viewer_->wasStopped ())
    
        viewer_->spinOnce (100);

        // Get lock on the boolean update and check if cloud was updated
        boost::mutex::scoped_lock updateLock(*(updateModelMutex_.get()));
        if((*update_))
        
            // I NEED ALSO TO UPDATE THE NORMALS
            if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
            
                viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
                viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
            

            (*update_) = false;
        
        updateLock.unlock();

       
 

提前致谢。

【参考方案1】：

一种方法是移除法线的云并再次添加：

void pclVisualizerThread::operator()()

    // prepare visualizer named "viewer"
    while (!viewer_->wasStopped ())
    
        viewer_->spinOnce (100);

        // Get lock on the boolean update and check if cloud was updated
        boost::mutex::scoped_lock updateLock(*(updateModelMutex_.get()));
        if((*update_))
        
            if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
            
                viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
                viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
            
            viewer_->removePointCloud("normals", 0);
            viewer_->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud_, normals_, 150, 0.35, "normals");
            (*update_) = false;
        
        updateLock.unlock();