PCL可视化点云【颜色特征】

****以颜色区别深度

为了更加直观的显示点云，将不同的深度值显示为不同的颜色。

1#include <iostream>
2#include <pcl/point_types.h>
3#include <pcl/io/ply_io.h>
4#include <pcl/visualization/pcl_visualizer.h>
5#include <pcl/io/io.h>
6
7using namespace std;
8using namespace pcl;
9using namespace io;
10
11int main() {
12    PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
13
14    if (io::loadPLYFile("bunny.ply", *cloud) == -1) { // 读取.ply文件
15        cerr << "can't read file bunny.pcd" << endl;
16        return -1;
17    }
18
19    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
20
21    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z"); // 按照z字段进行渲染
22    
23    viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample cloud");
24    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小
25
26    while (!viewer->wasStopped())
27    {
28        viewer->spinOnce(100);
29        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
30    }
31
32    return 0;
33}

结果

自定义颜色特征

1/*
2    任何点云格式均可，不要求点云带有RGB字段
3*/
4#include <iostream>
5#include <pcl/point_types.h>
6#include <pcl/io/ply_io.h>
7#include <pcl/visualization/pcl_visualizer.h>
8#include <pcl/io/io.h>
9
10using namespace std;
11using namespace pcl;
12using namespace io;
13
14int main() {
15    PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
16
17    if (io::loadPLYFile("bunny.ply", *cloud) == -1) { // 读取.ply文件
18        cerr << "can't read file bunny.pcd" << endl;
19        return -1;
20    }
21
22    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
23    
24    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0); // green
25    
26    viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
27
28    while (!viewer->wasStopped())
29    {
30        viewer->spinOnce(100);
31        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
32    }
33    return 0;
34}

结果