PCL点云可视化PointXYZ,PointXYZRGB

目录

1.可视化PointXYZ

2.可视化PointXYZ,每个点显示固定颜色

2.可视化PointXYZRGB,每个点显示相应的颜色;

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1.可视化PointXYZ

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

2.可视化PointXYZ,每个点显示固定颜色

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);
}

2.可视化PointXYZRGB,每个点显示相应的颜色;

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); //使用cloud的rgb 或者 rgba
    viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); //变量名，赋值
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();
    return (viewer);
}

参考:PCL官方教程:https://pcl.readthedocs.io/projects/tutorials/en/latest/pcl_visualizer.html?highlight=pcl_visualizer_demo#compiling-and-running-the-program