C++ visualization::PCLVisualizer类代码示例

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本文整理汇总了C++中pcl::visualization::PCLVisualizer类的典型用法代码示例。如果您正苦于以下问题：C++ PCLVisualizer类的具体用法？C++ PCLVisualizer怎么用？C++ PCLVisualizer使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了PCLVisualizer类的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: addVoxels

 void addVoxels(pcl::visualization::PCLVisualizer &visualizer, const std::string &name)
 {
   pcl::PointCloud< pcl::PointXYZRGBA>::Ptr colored_voxel_cloud = supervoxels->getColoredVoxelCloud();
   visualizer.addPointCloud(colored_voxel_cloud, name);
   visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, name);
   visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.8, name);
 }

开发者ID:yazdani，项目名称:robosherlock，代码行数:7，代码来源:SuperVoxelAnnotator.cpp

示例2: viz_cb

    void
    viz_cb (pcl::visualization::PCLVisualizer& viz)
    {
      mtx_.lock ();
      if (!cloud_ || !normals_)
      {
        mtx_.unlock ();
        return;
      }

      CloudConstPtr temp_cloud;
      pcl::PointCloud<pcl::Normal>::Ptr temp_normals;
      temp_cloud.swap (cloud_); //here we set cloud_ to null, so that
      temp_normals.swap (normals_);
      mtx_.unlock ();

      if (!viz.updatePointCloud (temp_cloud, "OpenNICloud"))
      {
        viz.addPointCloud (temp_cloud, "OpenNICloud");
        viz.resetCameraViewpoint ("OpenNICloud");
      }
      // Render the data
      if (new_cloud_)
      {
        viz.removePointCloud ("normalcloud");
        viz.addPointCloudNormals<PointType, pcl::Normal> (temp_cloud, temp_normals, 100, 0.05f, "normalcloud");
        new_cloud_ = false;
      }
    }

开发者ID:SunBlack，项目名称:pcl，代码行数:29，代码来源:openni_ii_normal_estimation.cpp

示例3: drawParticles

 bool
 drawParticles (pcl::visualization::PCLVisualizer& viz)
 {
   ParticleFilter::PointCloudStatePtr particles = tracker_->getParticles ();
   if (particles)
   {
     if (visualize_particles_)
     {
       pcl::PointCloud<pcl::PointXYZ>::Ptr particle_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
       for (size_t i = 0; i < particles->points.size (); i++)
       {
         pcl::PointXYZ point;
         
         point.x = particles->points[i].x;
         point.y = particles->points[i].y;
         point.z = particles->points[i].z;
         particle_cloud->points.push_back (point);
       }
       
       {
         pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> blue_color (particle_cloud, 250, 99, 71);
         if (!viz.updatePointCloud (particle_cloud, blue_color, "particle cloud"))
           viz.addPointCloud (particle_cloud, blue_color, "particle cloud");
       }
     }
     return true;
   }
   else
   {
     PCL_WARN ("no particles\n");
     return false;
   }
 }

开发者ID:5irius，项目名称:pcl，代码行数:33，代码来源:openni_tracking.cpp

示例4: addCentroids

 void addCentroids(pcl::visualization::PCLVisualizer &visualizer, const std::string &name)
 {
   //    pcl::PointCloud< pcl::PointXYZRGBA>::Ptr voxel_centroid_cloud = supervoxels->getVoxelCentroidCloud();
   visualizer.addPointCloud(supervoxelcloud, name);
   visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, name);
   visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.95, name);
 }

开发者ID:yazdani，项目名称:robosherlock，代码行数:7，代码来源:SuperVoxelAnnotator.cpp

示例5: drawParticles

//Draw the current particles
bool
drawParticles (pcl::visualization::PCLVisualizer& viz)
{
  ParticleFilter::PointCloudStatePtr particles = tracker_->getParticles ();
  if (particles && new_cloud_)
    {
      //Set pointCloud with particle's points
      pcl::PointCloud<pcl::PointXYZ>::Ptr particle_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
      for (size_t i = 0; i < particles->points.size (); i++)
	{
	  pcl::PointXYZ point;
          
	  point.x = particles->points[i].x;
	  point.y = particles->points[i].y;
	  point.z = particles->points[i].z;
	  particle_cloud->points.push_back (point);
	}

      //Draw red particles 
      {
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red_color (particle_cloud, 250, 99, 71);

	if (!viz.updatePointCloud (particle_cloud, red_color, "particle cloud"))
	  viz.addPointCloud (particle_cloud, red_color, "particle cloud");
      }
      return true;
    }
  else
    {
      return false;
    }
}

开发者ID:SunBlack，项目名称:pcl，代码行数:33，代码来源:tracking_sample.cpp

示例6: viz_cb

//visualization's callback function
void
viz_cb (pcl::visualization::PCLVisualizer& viz)
{
  boost::mutex::scoped_lock lock (mtx_);
    
  if (!cloud_pass_)
    {
      std::this_thread::sleep_for(1s);
      return;
   }

  //Draw downsampled point cloud from sensor    
  if (new_cloud_ && cloud_pass_downsampled_)
    {
      CloudPtr cloud_pass;
      cloud_pass = cloud_pass_downsampled_;
    
      if (!viz.updatePointCloud (cloud_pass, "cloudpass"))
	{
	  viz.addPointCloud (cloud_pass, "cloudpass");
	  viz.resetCameraViewpoint ("cloudpass");
	}
      bool ret = drawParticles (viz);
      if (ret)
        drawResult (viz);
    }
  new_cloud_ = false;
}

开发者ID:SunBlack，项目名称:pcl，代码行数:29，代码来源:tracking_sample.cpp

示例7: viz_cb

    void
    viz_cb (pcl::visualization::PCLVisualizer& viz)
    {
      if (!cloud_ || !new_cloud_)
      {
        boost::this_thread::sleep (boost::posix_time::milliseconds (1));
        return;
      }

      {
        boost::mutex::scoped_lock lock (mtx_);
        FPS_CALC ("visualization");
        CloudPtr temp_cloud;
        temp_cloud.swap (cloud_pass_);

        if (!viz.updatePointCloud (temp_cloud, "OpenNICloud"))
        {
          viz.addPointCloud (temp_cloud, "OpenNICloud");
          viz.resetCameraViewpoint ("OpenNICloud");
        }
        // Render the data 
        if (new_cloud_ && cloud_hull_)
        {
          viz.removePointCloud ("hull");
          viz.addPolygonMesh<PointType> (cloud_hull_, vertices_, "hull");
        }
        new_cloud_ = false;
      }
    }

开发者ID:Bastl34，项目名称:PCL，代码行数:29，代码来源:openni_3d_concave_hull.cpp

示例8: viewerOneOff

void  viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (0.3, 0.3, 0.3);
    viewer.addCoordinateSystem(1.0, 0);
    viewer.initCameraParameters();
    viewer.camera_.pos[2] = 30;
	viewer.updateCamera();
}

开发者ID:MRPT，项目名称:mrpt，代码行数:8，代码来源:rawlog-pcl-viewer.cpp

示例9: viewerOneOff

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
	viewer.setBackgroundColor(1.0, 0.5, 1.0);
	pcl::PointXYZ pt;
	pt.x = 1.0;
	pt.y = 0;
	pt.z = 0;
	viewer.addSphere(pt, 0.25, "sphere", 0);
	std::cout << "I only run once..." << std::endl;
}

开发者ID:ygjukim，项目名称:pcl_tutorials，代码行数:10，代码来源:cloud_viewer.cpp

示例10: viewerPsycho

void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
	static unsigned count = 0;
	std::stringstream ss;
	ss << "Once per viewer loop: " << count++ << std::endl;
	viewer.removeShape("text", 0);
	viewer.addText(ss.str(), 200, 200, "text", 0);

	user_data++;
}

开发者ID:ygjukim，项目名称:pcl_tutorials，代码行数:10，代码来源:cloud_viewer.cpp

示例11: viewerOneOff

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.25, "sphere", 0);
    std::cout << "i only run once" << std::endl;
}

开发者ID:dgurung，项目名称:SfM_3d_wo_textures，代码行数:10，代码来源:visualizer.cpp

示例12: drawBoundingBoxLines

// The corners MUST be in the order which is defined in computeCuboidCornersWithMinMax3D!
// Otherwise this method will not work
// The viewport is the related to your open viewports in the PCLVisualizer instance
// If you have only one viewport, you can pass 0 there or leave it empty
void drawBoundingBoxLines(pcl::visualization::PCLVisualizer &visualizer, pcl::PointCloud<pcl::PointXYZRGB>::Ptr corner_points, int viewport=0)
{
  if( corner_points->points.size() != 8)
  {
    std::cerr << "The corner pointcloud should contain 8 elements. Actual size: " << corner_points->points.size() << std::endl;
    return;
  }
  // Front face after the transformation
  visualizer.addLine(corner_points->points.at(0), corner_points->points.at(2), "bb_line_1",viewport);
  visualizer.addLine(corner_points->points.at(0), corner_points->points.at(3), "bb_line_2",viewport);
  visualizer.addLine(corner_points->points.at(6), corner_points->points.at(2), "bb_line_3",viewport);
  visualizer.addLine(corner_points->points.at(6), corner_points->points.at(3), "bb_line_4",viewport);

  // Back face after the transformation
  visualizer.addLine(corner_points->points.at(4), corner_points->points.at(7), "bb_line_5",viewport);
  visualizer.addLine(corner_points->points.at(4), corner_points->points.at(5), "bb_line_6",viewport);
  visualizer.addLine(corner_points->points.at(1), corner_points->points.at(7), "bb_line_7",viewport);
  visualizer.addLine(corner_points->points.at(1), corner_points->points.at(5), "bb_line_8",viewport);

  // Connect both faces with each other
  visualizer.addLine(corner_points->points.at(0), corner_points->points.at(4), "bb_line_9",viewport);
  visualizer.addLine(corner_points->points.at(2), corner_points->points.at(7), "bb_line_10",viewport);
  visualizer.addLine(corner_points->points.at(3), corner_points->points.at(5), "bb_line_11",viewport);
  visualizer.addLine(corner_points->points.at(6), corner_points->points.at(1), "bb_line_12",viewport);

  // Draw two diagonal lines to see where the center should be
  visualizer.addLine(corner_points->points.at(0), corner_points->points.at(1), 255,255,0, "bb_diag_1",viewport);
  visualizer.addLine(corner_points->points.at(2), corner_points->points.at(5), 255,255,0, "bb_diag_2",viewport);

  // Draw the centroid of the object
  Eigen::Vector4f centroid;
  CuboidMatcher::computeCentroid(corner_points, centroid);
  visualizer.addSphere(getPointXYZFromVector4f(centroid), 0.01, "centroid_bb", viewport);

}

开发者ID:SUTURO，项目名称:euroc_perception，代码行数:39，代码来源:main.cpp

示例13: main

int
  main (int argc, char** argv)
{
  //pcl::PointCloud<pcl::PointXYZ> cloud;

  // Read Kinect live stream:
  PointCloudT cloud_obj;
  PointCloudT::Ptr cloud (new PointCloudT);
  bool new_cloud_available_flag = false;
  pcl::Grabber* interface = new pcl::OpenNIGrabber();
  boost::function<void (const PointCloudT::ConstPtr&)> f =
        boost::bind (&cloud_cb_, _1, &cloud_obj, &new_cloud_available_flag);
  interface->registerCallback (f);
  interface->start ();

  // Wait for the first frame:
  while(!new_cloud_available_flag) 
    boost::this_thread::sleep(boost::posix_time::milliseconds(1));
  pcl::copyPointCloud<PointT, PointT>(cloud_obj, *cloud);
  new_cloud_available_flag = false;

  // Display pointcloud:
  pcl::visualization::PointCloudColorHandlerRGBField<PointT> rgb(cloud);
  viewer.addPointCloud<PointT> (cloud, rgb, "input_cloud");
  viewer.setCameraPosition(0,0,-2,0,-1,0,0);

  /*
  // Add point picking callback to viewer:
  struct callback_args cb_args;
  PointCloudT::Ptr clicked_points_3d (new PointCloudT);
  cb_args.clicked_points_3d = clicked_points_3d;
  cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(&viewer);
  viewer.registerPointPickingCallback (pp_callback, (void*)&cb_args);
  std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
  */

  // Spin until 'Q' is pressed (to allow ground manual initialization):
  viewer.spin();
  std::cout << "done." << std::endl;

  pcl::io::savePCDFileASCII ("/home/igor/pcds/pcd_grabber_out_1.pcd", *cloud);
  std::cerr << "Saved " << (*cloud).points.size () << " data points to pcd_grabber_out_1.pcd." << std::endl;

  /*
  for (size_t i = 0; i < cloud.points.size (); ++i)
    std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
  */

  while (!viewer.wasStopped ())
  {
    boost::this_thread::sleep (boost::posix_time::microseconds (100));
  }

  return (0);
}

开发者ID:igor-nap，项目名称:cv-pose-detection，代码行数:55，代码来源:pcd_grabber.cpp

示例14: viewerPsycho

void viewerPsycho (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);
    
    //FIXME: possible race condition here:
    user_data++;
}

开发者ID:kaziida24，项目名称:fractal，代码行数:11，代码来源:visualize.cpp

示例15: fillVisualizerWithLock

  void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
  {
    const std::string centroidname = this->name + "_centroids";
    const std::string coloredvoxelname = this->name + "_voxels_colored";
    const std::string normalsname = this->name + "_supervoxel_normals";

    if(!firstRun)
    {
      visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, centroidname);
    }
    visualizer.removeAllPointClouds();
    visualizer.removeAllShapes();
    addCentroids(visualizer, centroidname);
    switch(dispMode)
    {
    case ALL:
      addVoxels(visualizer, coloredvoxelname);
      addAdjacency(visualizer);
      addNormals(visualizer, normalsname);
      break;
    case W_VOXELS:
      addVoxels(visualizer, coloredvoxelname);
      break;
    case W_VA:
      addVoxels(visualizer, coloredvoxelname);
      addAdjacency(visualizer);
      break;
    case W_VN:
      addVoxels(visualizer, coloredvoxelname);
      addNormals(visualizer, normalsname);
      break;
    case W_AN:
      addAdjacency(visualizer);
      addNormals(visualizer, normalsname);
      break;
    case W_ADJACENCY:
      addAdjacency(visualizer);
      break;
    case W_NORMALS:
      addNormals(visualizer, normalsname);
      break;
    case ADJACENCY:
      visualizer.removeAllPointClouds();
      addAdjacency(visualizer);
      break;
    case NONE:
      break;
    case TEST:
      filterAdjacency(visualizer);
      break;
    }
  }

开发者ID:yazdani，项目名称:robosherlock，代码行数:52，代码来源:SuperVoxelAnnotator.cpp

示例16: fillVisualizerWithLock

 void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, bool firstRun)
 {
   if(firstRun)
   {
     visualizer.addPointCloud(cloud, "cloud");
     visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.0, "cloud");
   }
   else
   {
     visualizer.updatePointCloud(cloud, "cloud");
     visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.0, "cloud");
   }
 }

开发者ID:bbferka，项目名称:rs_addons，代码行数:13，代码来源:DeCafClassifier.cpp

示例17: getRGBFromColor

template <typename PointT> void
tviewer::PointCloudObject<PointT>::addDataToVisualizer (pcl::visualization::PCLVisualizer& v)
{
  v.addPointCloud (data_, name_);
  v.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size_, name_);
  v.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, visibility_, name_);
  if (use_fixed_color_ != 0)
  {
    float r, g, b;
    std::tie (r, g, b) = getRGBFromColor (color_);
    v.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, r, g, b, name_);
  }
}

开发者ID:TonyJZ，项目名称:PC_cls，代码行数:13，代码来源:point_cloud_object.cpp

示例18: filterAdjacency

  void filterAdjacency(pcl::visualization::PCLVisualizer &visualizer)
  {
    visualizer.removeAllPointClouds();
    visualizer.removeAllShapes();
    std::multimap<uint32_t, uint32_t> supervoxel_adjacency;
    supervoxels->getSupervoxelAdjacency(supervoxel_adjacency);

    pcl::PointCloud< pcl::PointXYZRGBA>::Ptr filtered_supervoxel(new pcl::PointCloud< pcl::PointXYZRGBA>);
    for(std::multimap<uint32_t, uint32_t>::iterator label_itr = supervoxel_adjacency.begin(); label_itr != supervoxel_adjacency.end();)
    {
      //First get the label
      uint32_t supervoxel_label = label_itr->first;
      //Now get the supervoxel corresponding to the label
      pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr supervoxel = supervoxel_clusters.at(supervoxel_label);

      int threshold = 7 - supervoxel->centroid_.z * 0.375;

      int count = supervoxel_adjacency.count(supervoxel_label);
      if(count >= threshold)
      {
        //Now we need to iterate through the adjacent supervoxels and make a point cloud of them
        pcl::PointCloud< pcl::PointXYZRGBA>::Ptr adjacent_supervoxel_centers(new pcl::PointCloud< pcl::PointXYZRGBA>);

        std::multimap<uint32_t, uint32_t>::iterator adjacent_itr = supervoxel_adjacency.equal_range(supervoxel_label).first;
        for(; adjacent_itr != supervoxel_adjacency.equal_range(supervoxel_label).second; ++adjacent_itr)
        {

          uint32_t snd_label = adjacent_itr->second;
          int snd_count = supervoxel_adjacency.count(snd_label);
          pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr neighbor_supervoxel = supervoxel_clusters.at(snd_label);
          int snd_threshold = 7 - neighbor_supervoxel->centroid_.z * 0.375;
          if(snd_count >= snd_threshold)
          {
            adjacent_supervoxel_centers->push_back(neighbor_supervoxel->centroid_);
            filtered_supervoxel->push_back(neighbor_supervoxel->centroid_);
          }
        }
        //Now we make a name for this polygon
        std::stringstream ss;
        ss << "supervoxel_" << supervoxel_label;
        //This function generates a "star" polygon mesh from the points given
        addSupervoxelConnectionsToViewer(supervoxel->centroid_, *adjacent_supervoxel_centers, ss.str(), visualizer);

      }
      label_itr = supervoxel_adjacency.upper_bound(supervoxel_label);
    }
    const std::string foo = "fassdfasdf";
    visualizer.addPointCloud(filtered_supervoxel, foo);
    visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, foo);
  }

开发者ID:yazdani，项目名称:robosherlock，代码行数:50，代码来源:SuperVoxelAnnotator.cpp

示例19: main

int main (int argc, char const* argv[])
{
	if (argc != 2) {
		cout << "Usage : obb_test filename.pcd" << endl;
		return 1;
	}
	
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
 	if (pcl::io::loadPCDFile<pcl::PointXYZ> (argv[1], *cloud) == -1) {
    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
    return 1;
  }

	cloud_viewer.addPointCloud (cloud, "single_cloud");

	OrientedBoundingBox obb;
	Eigen::Quaternionf q;
	Eigen::Vector3f t, dims;
	obb.compute_obb_pca (cloud, q, t, dims);
  cloud_viewer.addCube(t, q, dims.x(), dims.y(), dims.z());
  cout << dims.x() << " " << dims.y() << " " << dims.z() << endl;
  
  while (!cloud_viewer.wasStopped()) {
    cloud_viewer.spinOnce(1);
	}
  
	return 0;
}

开发者ID:GuidoManfredi，项目名称:ManipLearning，代码行数:28，代码来源:obb_test.cpp

示例20: updateDepth

void Inspector::updateDepth(const openni_wrapper::Image& image,
                            const openni_wrapper::DepthImage& depth)
{
  frame_.depth_->setZero();
  ushort data[depth.getHeight() * depth.getWidth()];
  depth.fillDepthImageRaw(depth.getWidth(), depth.getHeight(), data);
  int i = 0;
  for(size_t y = 0; y < depth.getHeight(); ++y) {
    for(size_t x = 0; x < depth.getWidth(); ++x, ++i) {
      if(data[i] == depth.getNoSampleValue() || data[i] == depth.getShadowValue())
        continue;
      frame_.depth_->coeffRef(y, x) = data[i];
    }
  }

  if(dddm_ && use_intrinsics_)
    dddm_->undistort(frame_.depth_.get());

  frame_.img_ = oniToCV(image);
    
  Cloud::Ptr cloud(new Cloud);
  FrameProjector proj;
  proj.width_ = 640;
  proj.height_ = 480;
  proj.cx_ = proj.width_ / 2;
  proj.cy_ = proj.height_ / 2;
  proj.fx_ = 525;
  proj.fy_ = 525;
  proj.frameToCloud(frame_, cloud.get());
  pcd_vis_.updatePointCloud(cloud, "cloud");
  pcd_vis_.spinOnce(5);
}

开发者ID:RaresAmbrus，项目名称:clams，代码行数:32，代码来源:inspect.cpp

注：本文中的pcl::visualization::PCLVisualizer类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。