PCL--PCLVisualizer类可视化方法

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**代码出处：**http://pointclouds.org/documentation/tutorials/pcl_visualizer.php#pcl-visualizer

/** Filename:   pcl_visualizer_demo.cpp

** Date: 2018-4-19

**Description:

**/

#include "stdafx.h"

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

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

boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	//创建可视化对象，添加点云，设置点云属性
	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);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
	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);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	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);
}


boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis(
	pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals)
{
	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);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
	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();


	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");

	//---------------------------------------
	//-----Add shapes at other locations-----
	//---------------------------------------
	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);
}

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)
{
	// --------------------------------------------------------
	// -----Open 3D viewer and add point cloud and normals-----
	// --------------------------------------------------------
	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)
{
	//static_cast < type-id > ( expression ) 该运算符把expression转换为type-id类型，
	// https://baike.baidu.com/item/static_cast/4472966
	pcl::visualization::PCLVisualizer *viewer = static_cast<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)
{
	pcl::visualization::PCLVisualizer *viewer = static_cast<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);
	}
}

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

	return (viewer);
}


int main(int argc, char* argv[])
{
	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;
	}

	// 创建点云例子
	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";

	// 在Z轴上提取一个椭圆，点云颜色将逐渐从红色变为绿色，变为蓝色。
	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);//颜色赋值
			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;

	// 计算表面法向，搜索半径为0.05m
	pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;//输入为点云，输出为点云法向
	ne.setInputCloud(point_cloud_ptr);
	//定义搜索树
	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);

	//计算表面法线 半径为0.1
	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();
	}

	//循环
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	
	system("pause");
	return 0;
}

实验效果：