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，将不一样的深度值显示为不一样的颜色。

#include <iostream> #include <pcl/point_types.h> #include <pcl/io/ply_io.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/io/io.h>

using namespace std; using namespace pcl; using namespace io; int main() { PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>); if (io::loadPLYFile("bunny.ply", *cloud) == -1) { // 读取.ply文件
        cerr << "can't read file bunny.pcd" << endl; return -1; } boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z"); // 按照z字段进行渲染
 viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample cloud"); viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小

    while (!viewer->wasStopped()) { viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } return 0; }

 

结果

自定义颜色特征

/* 任何点云格式都可，不要求点云带有RGB字段 */ #include <iostream> #include <pcl/point_types.h> #include <pcl/io/ply_io.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/io/io.h>

using namespace std; using namespace pcl; using namespace io; int main() { PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>); if (io::loadPLYFile("bunny.ply", *cloud) == -1) { // 读取.ply文件
        cerr << "can't read file bunny.pcd" << endl; return -1; } boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0); // green
 viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud"); while (!viewer->wasStopped()) { viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } return 0; }

结果