使用C ++中的PCL在同一窗口中查看多个点云

问题描述

我有两个点云，我想在同一窗口中对其进行可视化.

I have two point cloud, which I want to visualise in the same window.

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

int main ()
{
    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr body (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("body.pcd", *body);

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr head (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("head.pcd", *head);

    viewer.showCloud (body);
    viewer.showCloud (head);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

我只能看到最后一个PCD文件.

I can see only the last PCD file.

请注意，我不想使用pcd_viewer工具，因为我需要对该数据进行其他处理.

推荐答案

关于评论

好的.我会尽快检查它.您能告诉我使用cloud_viewer API设置相机参数和背景颜色吗?"

我不确定100％是否可以使用pcl::visualization::CloudViewer执行此操作.但是，如果将代码移到pcl::visualization::PCLVisualizer，则可以执行viewer.setBackgroundColor(double red,double green,double blue)(其中值的范围是0..1.设置摄像机).对于相机，您可以使用 pcl::visualization::PCLVisualizer::setCameraPosition .将代码从CloudViewer迁移到PCLVisualizer非常容易.

I am not 100% sure if you can do this using pcl::visualization::CloudViewer. However, if you move your code to pcl::visualization::PCLVisualizer you can do viewer.setBackgroundColor(double red,double green,double blue) (where the values range 0..1. To set a camera). For the camera, you can use pcl::visualization::PCLVisualizer::setCameraPosition. Moving your code from CloudViewer to PCLVisualizer is preatty easy.

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

int main ()
{
    pcl::visualization::PCLVisualizer viewer("Cloud Viewer");

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr body (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("body.pcd", *body);

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr head (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("head.pcd", *head);

    viewer.addPointCloud (body,"body");// note that before it was showCloud
    viewer.addPointCloud (head,"head");// note that before it was showCloud
    viewer.spin();
    return 0;
}

编辑从某种意义上说，这是一种方法.通过查看此处，您可以看到您可以运行pcl::visualization::PCLVisualizer使用pcl::visualization::CloudViewer::runOnVisualizationThreadOnce或pcl::visualization::CloudViewer::runOnVisualizationThread功能.为此，您将需要创建一个函数，该函数执行使用pcl::visualization::PCLVisualizer的所有部分，并将其传递给CloudViewer::runOnVisualizationThreadOnce或CloudViewer::runOnVisualizationThread.

EDITTher is acutally a way to do this. By looking into here, you can see that you can run any of the function of the pcl::visualization::PCLVisualizer using the pcl::visualization::CloudViewer::runOnVisualizationThreadOnce or pcl::visualization::CloudViewer::runOnVisualizationThread functions. For this, you will need to create a function that does all the part that uses pcl::visualization::PCLVisualizerand pass it to the CloudViewer::runOnVisualizationThreadOnce or CloudViewer::runOnVisualizationThread.

例如

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

void
setBackground (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);
}

int main ()
{
    pcl::visualization::PCLVisualizer viewer("Cloud Viewer");

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr body (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("body.pcd", *body);

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr head (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("head.pcd", *head);

    viewer.showCloud (body,"body");
    viewer.showCloud (head,"head");

    viewer.runOnVisualizationThreadOnce(setBackground);

    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

唯一的问题是，我看不到如何潜在地将参数传递给要在我们创建的函数中使用的pcl::visualization::PCLVisualizer函数(在上一个示例中，在setBackground中为pcl::visualization::PCLVisualizer::setBackgroundColor.)，为此，我认为直接使用pcl::visualization::PCLVisualizer会更好.

The only issue is that I do not see how you could potentially pass arguments to the pcl::visualization::PCLVisualizer function that you want to use in the function we crated (in the previous example pcl::visualization::PCLVisualizer::setBackgroundColorin setBackground. For this, I think using directly pcl::visualization::PCLVisualizer is much better.

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