1. PCL Visualizer可视化类是PCL中功能最全的可视化类.
   如,显示法线,绘制多种情况,多个视口.

几个简单的PCL Visualizer示例.
有
可视化单个点云,
可视化点云颜色特征,
可视化自定义颜色特征,
可视化点云法线和其他特征,
绘制普通形状,
多视口显示,
自定义交互.

程序:

#if 1
// visualizer可视化操作
#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>

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

// 显示简单点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point 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);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point 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);
}

// 可视化的时候，给点云增加颜色
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);//设置背景颜色
  // pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);//点云颜色设置
  pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> single_color(cloud, "z");   //按照z字段进行渲染

  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");//显示法向量
  viewer->addCoordinateSystem(1.0);
  viewer->initCameraParameters();
  return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point 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();

  //------------------------------------
  //-----Add shapes at cloud points-----
  //------------------------------------
  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)
{
  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);
}

// --------------
// -----Main-----
// --------------
int main(int argc, char **argv)
{
  // --------------------------------------
  // -----Parse Command Line Arguments-----
  // --------------------------------------
  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;
  }

  // ------------------------------------
  // -----Create example point cloud-----
  // ------------------------------------
  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";
  // We're going to make an ellipse extruded along the z-axis. The colour for
  // the XYZRGB cloud will gradually go from red to green to blue.
  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;
      // 两种rgb颜色赋值方法
      // 1.rgb通道分别赋值
      // point.r = 255;
      // point.g = 15;
      // point.b = 15;
      // 2.rgb一次性赋值
      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);
      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;

  // ----------------------------------------------------------------
  // -----Calculate surface normals with a search radius of 0.05-----
  // 法线
  // ----------------------------------------------------------------
  pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
  ne.setInputCloud(point_cloud_ptr);
  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);

  // ---------------------------------------------------------------
  // -----Calculate surface normals with a search radius of 0.1-----
  // ---------------------------------------------------------------
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2(new pcl::PointCloud<pcl::Normal>);
  ne.setRadiusSearch(0.1);
  ne.compute(*cloud_normals2);

  // 创建一个智能指针
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
  // 简单显示点云
  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();
  }

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

#endif

-h

可视化单个点云simpleVis函数

image.png

可视化点云颜色特征rgbVis函数

image.png

可视化点云自定义颜色特征customColourVis函数

image.png

可视化点云发现和其他特征normalsVis函数

image.png

绘制普通形状shapesVis函数

image.png

多视口显示viewportsVis函数

image.png

自定义交互
可以鼠标选点,查看点坐标,删除点,需要自己添加代码

image.png

viewer->registerKeyboardCallback(keyboardEventOccurred, (void *)viewer.get());
viewer->registerMouseCallback(mouseEventOccurred, (void *)viewer.get());
分别是注册响应键盘和鼠标事件的keyboardEventOccurred,mouseEventOccurred的回调函数,
第二个参数是cookies,是回调时传递给回调函数的参数.

参考:

pcl可视化