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：
#include <vtkAutoInit.h> VTK_MODULE_INIT(vtkRenderingOpenGL);VTK_MODULE_INIT(vtkInteractionStyle);VTK_MODULE_INIT(vtkRenderingFreeType); #include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>int user_data;voidviewerOneOff(pcl::visualization::PCLVisualizer& viewer){viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);pcl::PointXYZ o;o.x = 1.0;o.y = 0;o.z = 0;viewer.addSphere(o, 0.25, "Sphere", 0);std::cout << "I only run once" << std::endl;}voidviewerPsycho(pcl::visualization::PCLVisualizer& viewer){static unsigned count = 0;std::stringstream ss;ss << "Once per viewer loop: " << count++;viewer.removeShape("text", 0);viewer.addText(ss.str(), 200, 300, "text", 0);//this is to set the coordination of text "Once per viewer loop:"//FIXME : possible race condition hereuser_data++;}intmain(){pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);pcl::io::loadPCDFile("maize.pcd", *cloud);pcl::visualization::CloudViewer viewer("Cloud Viewer");//showCloud 函数是同步的，在此处等待直到渲染显示为止viewer.showCloud(cloud);//该注册函数在可视化时只调用一次viewer.runOnVisualizationThreadOnce(viewerOneOff);//该注册函数在渲染输出是每次都调用viewer.runOnVisualizationThread(viewerPsycho);while (!viewer.wasStopped()){//在此处可以添加其他处理user_data++;}return 0;}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
#include <vtkAutoInit.h> VTK_MODULE_INIT(vtkRenderingOpenGL);VTK_MODULE_INIT(vtkInteractionStyle);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：
#include <vtkAutoInit.h> VTK_MODULE_INIT(vtkRenderingOpenGL);VTK_MODULE_INIT(vtkInteractionStyle);VTK_MODULE_INIT(vtkRenderingFreeType);/* \author Geoffrey Biggs */#include <iostream>#include <boost/thread/thread.hpp>#include <pcl/common/common_headers.h>#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>// 帮助voidprintUsage (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";}//Simple visualisation exampleboost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (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); 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);}//RGB colour visualisation exampleboost::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); 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);}//Custom colour visualisation exampleboost::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);}//Normals visualisation exampleboost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis ( pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals){ //创建3D窗口并添加点云其包括法线 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);}//Shapes visualisation exampleboost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis (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); 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 (); //在点云上添加直线和球体模型 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"); //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"); 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);}//Viewports exampleboost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis ( pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2){ // 创建3D窗口并添加显示点云其包括法线 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){ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<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){ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<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); }}//Interaction Customization exampleboost::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); viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer); return (viewer);}// -----Main-----intmain (int argc, char** argv){ // 解析命令行参数 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; } // 自行创建一随机点云 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"; // 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。 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; } 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; // 0.05为搜索半径获取点云法线 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); // 0.1为搜索半径获取点云法线 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(); } // 主循环 while (!viewer->wasStopped ()) { viewer->spinOnce (100); boost::this_thread::sleep (boost::posix_time::microseconds (100000)); }}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：
#include <iostream>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/point_types.h>#include <boost/thread/thread.hpp>using namespace std; typedef pcl::PointCloud<pcl::PointXYZ> pointcloud;int main(int argc, char *argv[]){ pointcloud::Ptr cloud (new pointcloud); pcl::PointXYZ a, b, z; a.x = 0; a.y = 0; a.z = 0; b.x = 5; b.y = 8; b.z = 10; z.x = 4; z.y = 3; z.z = 20; boost::shared_ptr<pcl::visualization::PCLVisualizer> view (new pcl::visualization::PCLVisualizer ("line Viewer")); view->setBackgroundColor(r,g,b); //背景色 view->addLine<pcl::PointXYZ>(a,b,"line"); view->addLine<pcl::PointXYZ> (a,z,255,0,0,"line1"); //红色线段,线的名字叫做"line1" view->addArrow<pcl::PointXYZ> (b,z,255,0,0,"arrow"); //带箭头 while (!view->wasStopped ()) { view->spinOnce(100); boost::this_thread::sleep (boost::posix_time::microseconds (100000)); } return 0;} 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：
#include <pcl/visualization/histogram_visualizer.h> //直方图的可视化#include <boost/thread/thread.hpp>#include <pcl/visualization/pcl_plotter.h>int main (int argc, char **argv){ .... 直方图计算 .... pcl::visualization::PCLHistogramVisualizer view; view.setBackgroundColor(255,0,0); view.addFeatureHistogram<pcl::FPFHSignature33> (*fpfhs,"fpfh",1000);//对下标为1000的元素可视化 //view.spinOnce(10000); //循环的次数 view.spin(); //无限循环 return 0;}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>：
#include <pcl/visualization/pcl_plotter.h>…… pcl::visualization::PCLPlotter plotter;// We need to set the size of the descriptor beforehand.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plotter.plot();
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