PCL可视化相关的教程，添加直线，立方体，点云等等

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：

 

1. #include <vtkAutoInit.h>

2. VTK_MODULE_INIT(vtkRenderingOpenGL);

3. VTK_MODULE_INIT(vtkInteractionStyle);

4. VTK_MODULE_INIT(vtkRenderingFreeType);

5.  

6. #include <pcl/visualization/cloud_viewer.h>

7. #include <iostream>

8. #include <pcl/io/io.h>

9. #include <pcl/io/pcd_io.h>

10.  

11. int user_data;

12. void

13. viewerOneOff(pcl::visualization::PCLVisualizer& viewer)

14. {

15. viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);

16. pcl::PointXYZ o;

17. o.x = 1.0;

18. o.y = 0;

19. o.z = 0;

20. viewer.addSphere(o, 0.25, "Sphere", 0);

21. std::cout << "I only run once" << std::endl;

22. }

23.  

24. void

25. viewerPsycho(pcl::visualization::PCLVisualizer& viewer)

26. {

27. static unsigned count = 0;

28. std::stringstream ss;

29. ss << "Once per viewer loop: " << count++;

30. viewer.removeShape("text", 0);

31. viewer.addText(ss.str(), 200, 300, "text", 0);//this is to set the coordination of text "Once per viewer loop:"

32. //FIXME : possible race condition here

33. user_data++;

34. }

35.  

36. int

37. main()

38. {

39. pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);

40. pcl::io::loadPCDFile("maize.pcd", *cloud);

41. pcl::visualization::CloudViewer viewer("Cloud Viewer");

42. //showCloud 函数是同步的，在此处等待直到渲染显示为止

43. viewer.showCloud(cloud);

44. //该注册函数在可视化时只调用一次

45. viewer.runOnVisualizationThreadOnce(viewerOneOff);

46. //该注册函数在渲染输出是每次都调用

47. viewer.runOnVisualizationThread(viewerPsycho);

48. while (!viewer.wasStopped())

49. {

50. //在此处可以添加其他处理

51. user_data++;

52. }

53. return 0;

54. }

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

1. #include <vtkAutoInit.h>

2. VTK_MODULE_INIT(vtkRenderingOpenGL);

3. VTK_MODULE_INIT(vtkInteractionStyle);

4. 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：

 

1. #include <vtkAutoInit.h>

2. VTK_MODULE_INIT(vtkRenderingOpenGL);

3. VTK_MODULE_INIT(vtkInteractionStyle);

4. VTK_MODULE_INIT(vtkRenderingFreeType);

5.  

6. /* \author Geoffrey Biggs */

7.  

8. #include <iostream>

9. #include <boost/thread/thread.hpp>

10. #include <pcl/common/common_headers.h>

11. #include <pcl/common/common_headers.h>

12. #include <pcl/features/normal_3d.h>

13. #include <pcl/io/pcd_io.h>

14. #include <pcl/visualization/pcl_visualizer.h>

15. #include <pcl/console/parse.h>

16. // 帮助

17. void

18. printUsage (const char* progName)

19. {

20. std::cout << "\n\nUsage: "<<progName<<" [options]\n\n"

21. << "Options:\n"

22. << "-------------------------------------------\n"

23. << "-h this help\n"

24. << "-s Simple visualisation example\n"

25. << "-r RGB colour visualisation example\n"

26. << "-c Custom colour visualisation example\n"

27. << "-n Normals visualisation example\n"

28. << "-a Shapes visualisation example\n"

29. << "-v Viewports example\n"

30. << "-i Interaction Customization example\n"

31. << "\n\n";

32. }

33.  

34. //Simple visualisation example

35. boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)

36. {

37. //创建3D窗口并添加点云

38. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

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

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

42. viewer->addCoordinateSystem (1.0);

43. viewer->initCameraParameters ();

44. return (viewer);

45. }

46.  

47. //RGB colour visualisation example

48. boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)

49. {

50. //创建3D窗口并添加点云

51. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

53. pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

54. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");

55. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");

56. viewer->addCoordinateSystem (1.0);

57. viewer->initCameraParameters ();

58. return (viewer);

59. }

60.  

61. //Custom colour visualisation example

62. boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)

63. {

64. //创建3D窗口并添加点云

65. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

67. pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);

68. viewer->addPointCloud<pcl::PointXYZ> (cloud, single_color, "sample cloud");

69. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");

70. viewer->addCoordinateSystem (1.0);

71. viewer->initCameraParameters ();

72. return (viewer);

73. }

74.  

75. //Normals visualisation example

76. boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis (

77. pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)

78. {

79. //创建3D窗口并添加点云其包括法线

80. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

82. pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

83. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");

84. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");

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

86. viewer->addCoordinateSystem (1.0);

87. viewer->initCameraParameters ();

88. return (viewer);

89. }

90.  

91. //Shapes visualisation example

92. boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)

93. {

94. //创建3D窗口并添加点云

95. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

97. pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

98. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");

99. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");

100. viewer->addCoordinateSystem (1.0);

101. viewer->initCameraParameters ();

102. //在点云上添加直线和球体模型

103. viewer->addLine<pcl::PointXYZRGB> (cloud->points[0],

104. cloud->points[cloud->size() - 1], "line");

105. viewer->addSphere (cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere");

106. //在其他位置添加基于模型参数的平面及圆锥体

107. pcl::ModelCoefficients coeffs;

108. coeffs.values.push_back (0.0);

109. coeffs.values.push_back (0.0);

110. coeffs.values.push_back (1.0);

111. coeffs.values.push_back (0.0);

112. viewer->addPlane (coeffs, "plane");

113. coeffs.values.clear ();

114. coeffs.values.push_back (0.3);

115. coeffs.values.push_back (0.3);

116. coeffs.values.push_back (0.0);

117. coeffs.values.push_back (0.0);

118. coeffs.values.push_back (1.0);

119. coeffs.values.push_back (0.0);

120. coeffs.values.push_back (5.0);

121. viewer->addCone (coeffs, "cone");

122.  

123. return (viewer);

124. }

125.  

126. //Viewports example

127. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (

128. pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2)

129. {

130. // 创建3D窗口并添加显示点云其包括法线

131. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

132. viewer->initCameraParameters ();

133. int v1(0);

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

135. viewer->setBackgroundColor (0, 0, 0, v1);

136. viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);

137. pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

138. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud1", v1);

139. int v2(0);

140. viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);

141. viewer->setBackgroundColor (0.3, 0.3, 0.3, v2);

142. viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);

143. pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0);

144. viewer->addPointCloud<pcl::PointXYZRGB> (cloud, single_color, "sample cloud2", v2);

145. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1");

146. viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");

147. viewer->addCoordinateSystem (1.0);

148.  

149. viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals1, 10, 0.05, "normals1", v1);

150. viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals2, 10, 0.05, "normals2", v2);

151.  

152. return (viewer);

153. }

154.  
155.  

156. unsigned int text_id = 0;

157. void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,

158. void* viewer_void)

159. {

160. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);

161. if (event.getKeySym () == "r" && event.keyDown ())

162. {

163. std::cout << "r was pressed => removing all text" << std::endl;

164.  

165. char str[512];

166. for (unsigned int i = 0; i < text_id; ++i)

167. {

168. sprintf (str, "text#%03d", i);

169. viewer->removeShape (str);

170. }

171. text_id = 0;

172. }

173. }

174.  

175. void mouseEventOccurred (const pcl::visualization::MouseEvent &event,

176. void* viewer_void)

177. {

178. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);

179. if (event.getButton () == pcl::visualization::MouseEvent::LeftButton &&

180. event.getType () == pcl::visualization::MouseEvent::MouseButtonRelease)

181. {

182. std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;

183.  

184. char str[512];

185. sprintf (str, "text#%03d", text_id ++);

186. viewer->addText ("clicked here", event.getX (), event.getY (), str);

187. }

188. }

189.  

190. //Interaction Customization example

191. boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis ()

192. {

193. boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

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

195. viewer->addCoordinateSystem (1.0);

196.  

197. viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);

198. viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);

199.  

200. return (viewer);

201. }

202. // -----Main-----

203. int

204. main (int argc, char** argv)

205. {

206. // 解析命令行参数

207. if (pcl::console::find_argument (argc, argv, "-h") >= 0)

208. {

209. printUsage (argv[0]);

210. return 0;

211. }

212. bool simple(false), rgb(false), custom_c(false), normals(false),

213. shapes(false), viewports(false), interaction_customization(false);

214. if (pcl::console::find_argument (argc, argv, "-s") >= 0)

215. {

216. simple = true;

217. std::cout << "Simple visualisation example\n";

218. }

219. else if (pcl::console::find_argument (argc, argv, "-c") >= 0)

220. {

221. custom_c = true;

222. std::cout << "Custom colour visualisation example\n";

223. }

224. else if (pcl::console::find_argument (argc, argv, "-r") >= 0)

225. {

226. rgb = true;

227. std::cout << "RGB colour visualisation example\n";

228. }

229. else if (pcl::console::find_argument (argc, argv, "-n") >= 0)

230. {

231. normals = true;

232. std::cout << "Normals visualisation example\n";

233. }

234. else if (pcl::console::find_argument (argc, argv, "-a") >= 0)

235. {

236. shapes = true;

237. std::cout << "Shapes visualisation example\n";

238. }

239. else if (pcl::console::find_argument (argc, argv, "-v") >= 0)

240. {

241. viewports = true;

242. std::cout << "Viewports example\n";

243. }

244. else if (pcl::console::find_argument (argc, argv, "-i") >= 0)

245. {

246. interaction_customization = true;

247. std::cout << "Interaction Customization example\n";

248. }

249. else

250. {

251. printUsage (argv[0]);

252. return 0;

253. }

254. // 自行创建一随机点云

255. pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);

256. pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);

257. std::cout << "Genarating example point clouds.\n\n";

258. // 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。

259. uint8_t r(255), g(15), b(15);

260. for (float z(-1.0); z <= 1.0; z += 0.05)

261. {

262. for (float angle(0.0); angle <= 360.0; angle += 5.0)

263. {

264. pcl::PointXYZ basic_point;

265. basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));

266. basic_point.y = sinf (pcl::deg2rad(angle));

267. basic_point.z = z;

268. basic_cloud_ptr->points.push_back(basic_point);

269.  

270. pcl::PointXYZRGB point;

271. point.x = basic_point.x;

272. point.y = basic_point.y;

273. point.z = basic_point.z;

274. uint32_t rgb = (static_cast<uint32_t>(r) << 16 |

275. static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));

276. point.rgb = *reinterpret_cast<float*>(&rgb);

277. point_cloud_ptr->points.push_back (point);

278. }

279. if (z < 0.0)

280. {

281. r -= 12;

282. g += 12;

283. }

284. else

285. {

286. g -= 12;

287. b += 12;

288. }

289. }

290. basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();

291. basic_cloud_ptr->height = 1;

292. point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();

293. point_cloud_ptr->height = 1;

294. // 0.05为搜索半径获取点云法线

295. pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;

296. ne.setInputCloud (point_cloud_ptr);

297. pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());

298. ne.setSearchMethod (tree);

299. pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);

300. ne.setRadiusSearch (0.05);

301. ne.compute (*cloud_normals1);

302. // 0.1为搜索半径获取点云法线

303. pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);

304. ne.setRadiusSearch (0.1);

305. ne.compute (*cloud_normals2);

306.  

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

308. if (simple)

309. {

310. viewer = simpleVis(basic_cloud_ptr);

311. }

312. else if (rgb)

313. {

314. viewer = rgbVis(point_cloud_ptr);

315. }

316. else if (custom_c)

317. {

318. viewer = customColourVis(basic_cloud_ptr);

319. }

320. else if (normals)

321. {

322. viewer = normalsVis(point_cloud_ptr, cloud_normals2);

323. }

324. else if (shapes)

325. {

326. viewer = shapesVis(point_cloud_ptr);

327. }

328. else if (viewports)

329. {

330. viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);

331. }

332. else if (interaction_customization)

333. {

334. viewer = interactionCustomizationVis();

335. }

336. // 主循环

337. while (!viewer->wasStopped ())

338. {

339. viewer->spinOnce (100);

340. boost::this_thread::sleep (boost::posix_time::microseconds (100000));

341. }

342. }

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：

 

1. #include <iostream>

2. #include <pcl/visualization/pcl_visualizer.h>

3. #include <pcl/point_types.h>

4. #include <boost/thread/thread.hpp>

5. using namespace std;

6. typedef pcl::PointCloud<pcl::PointXYZ> pointcloud;

7. int main(int argc, char *argv[])

8. {

9. pointcloud::Ptr cloud (new pointcloud);

10. pcl::PointXYZ a, b, z;

11. a.x = 0;

12. a.y = 0;

13. a.z = 0;

14. b.x = 5;

15. b.y = 8;

16. b.z = 10;

17. z.x = 4;

18. z.y = 3;

19. z.z = 20;

20.  

21. boost::shared_ptr<pcl::visualization::PCLVisualizer> view (new pcl::visualization::PCLVisualizer ("line Viewer"));

22. view->setBackgroundColor(r,g,b); //背景色

23. view->addLine<pcl::PointXYZ>(a,b,"line");

24. view->addLine<pcl::PointXYZ> (a,z,255,0,0,"line1"); //红色线段,线的名字叫做"line1"

25. view->addArrow<pcl::PointXYZ> (b,z,255,0,0,"arrow"); //带箭头

26. while (!view->wasStopped ())

27. {

28. view->spinOnce(100);

29. boost::this_thread::sleep (boost::posix_time::microseconds (100000));

30.  

31. }

32.  

33. return 0;

34. }

      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：

 

1. #include <pcl/visualization/histogram_visualizer.h> //直方图的可视化

2. #include <boost/thread/thread.hpp>

3. #include <pcl/visualization/pcl_plotter.h>

4. int main (int argc, char **argv)

5. {

6. ....

7. 直方图计算

8. ....

9.  

10. pcl::visualization::PCLHistogramVisualizer view;

11. view.setBackgroundColor(255,0,0);

12. view.addFeatureHistogram<pcl::FPFHSignature33> (*fpfhs,"fpfh",1000);//对下标为1000的元素可视化

13. //view.spinOnce(10000); //循环的次数

14. view.spin(); //无限循环

15. return 0;

16. }

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>：

 

 

1. #include <pcl/visualization/pcl_plotter.h>

2.  

3. ……

4.  

5. pcl::visualization::PCLPlotter plotter;

6. // We need to set the size of the descriptor beforehand.

7. 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

8. plotter.plot();

9. 转载的文章链接：

10. https://blog.csdn.net/fandq1223/article/details/53186244

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