PCL学习笔记（1）-可视化（2）--pcl_visualizer_demo

1. 出现的问题
   ..\pcl_visualizer_demo.cpp(35): error C2668: “pcl::visualization::PCLVisualizer::addCoordinateSystem”: 对重载函数的调用不明确
   是这个函数 ：viewer->addCoordinateSystem (1.0); //添加坐标轴
   改为：viewer->addCoordinateSystem (1.0，0)//在所有窗口中添加，详见P141
2. pcl_visualizer_demo.cpp

. #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  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";  }  //Simple visualisation example  boost::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 (1.0,0);      viewer->initCameraParameters ();      return (viewer);  }  //RGB colour visualisation example  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);      viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");      viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");      viewer->addCoordinateSystem (1.0,0);        viewer->initCameraParameters ();      return (viewer);  }  //Custom colour visualisation example  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,"global");      viewer->initCameraParameters ();      return (viewer);  }  //Normals visualisation example  boost::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,"global");      viewer->initCameraParameters ();      return (viewer);  }  //Shapes visualisation example  boost::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,"global");      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 example  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)  {      // 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,"global");      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 example  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,"global");        viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);      viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);      return (viewer);  }  // -----Main-----  int      main (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));      }  }  

3.CTR+F5不能出来图像，必须在控制台切换到exe所在的文件夹，运行exe 文件 并加上输入的参入
如D:\MyProgram\PCL\PCL_book\7 chapter example code\3 pcl_visualizer_demo\source\cm
ake_bin\Debug>pcl_visualizer_demo.exe -s

4.

VTK的快捷键，就是打开控制台后展示图像的快捷键 详见P140