用PCL刷新显示变化的点云

来源：互联网发布：d3.js v4画力导向图编辑：程序博客网时间：2024/04/30 12:59

在头文件中，定义了：

int m_colorInc;//演示红色分量不断增长。这是增长步长。

在cpp文件中，刚开始，在文件最上面，打开一个3D窗口，如下面代码所示。

// PCLDemoDlg.cpp : 实现文件

//#include "stdafx.h"#include "PCLDemo.h"#include "PCLDemoDlg.h"#include "afxdialogex.h"#ifdef _DEBUG#define new DEBUG_NEW#endif//////PCL#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>// 用于应用程序“关于”菜单项的 CAboutDlg 对话框#include  <conio.h>boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));//////PCL

接下来，开始3D显示内部循环。我坐在一个按钮里面了。代码如下：

void CPCLDemoDlg::OnBnClickedButton1()//开始3D显示内部循环。{while (!viewer->wasStopped()){viewer->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(100000));}}

最后是更新点云，我坐在另一个按钮中了。代码如下：

void CPCLDemoDlg::OnBnClickedButton6()//更新点云{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;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;r = m_colorInc;//g = m_colorInc;}else{g -= 12;b += 12;}}m_colorInc += 10;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;viewer->removeAllPointClouds();viewer->removeAllShapes();pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(point_cloud_ptr);viewer->addPointCloud<pcl::PointXYZRGB>(point_cloud_ptr, rgb, "sample cloud");viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");//viewer->addCoordinateSystem(1.0);//显示坐标轴，有时看着碍事。。所以我把他注释掉了。viewer->initCameraParameters();viewer->setBackgroundColor(0, 0, 0);viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);}

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