Visualization
CloudViewer
The CloudViewer is a straight forward,simple piont cloud visualization,meant to get you up and viewing clouds in as little code as possible.
1 #include <pcl/visualization/cloud_viewer.h> 2 #include <iostream> 3 #include <pcl/io/io.h> 4 #include <pcl/io/pcd_io.h> 5 6 int 7 main() 8 { 9 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); 10 pcl::io::loadPCDFile("D:\\pcd\\rabbit.pcd", *cloud); 11 pcl::visualization::CloudViewer viewer("Cloud-Viewer"); 12 viewer.showCloud(cloud); 13 while (!viewer.wasStopped(100)) 14 { 15 } 16 return 0; 17 }
PCLVisualizer
PCLVisualizer is PCL’s full-featured visualisation class. While more complex to use than the CloudViewer, it is also more powerful, offering features such as displaying normals, drawing shapes and multiple viewports.
1 /* \author Geoffrey Biggs */ 2 3 #include <iostream> 4 #include <thread> 5 6 #include <pcl/common/common_headers.h> 7 #include <pcl/features/normal_3d.h> 8 #include <pcl/io/pcd_io.h> 9 #include <pcl/visualization/pcl_visualizer.h> 10 #include <pcl/console/parse.h> 11 12 using namespace std::chrono_literals; 13 14 // -------------- 15 // -----Help----- 16 // -------------- 17 void 18 printUsage(const char* progName) 19 { 20 std::cout << "\n\nUsage: " << progName << " [options]\n\n" 21 << "Options:\n" 22 << "-------------------------------------------\n" 23 << "-h this help\n" 24 << "-s Simple visualisation example\n" 25 << "-r RGB colour visualisation example\n" 26 << "-c Custom colour visualisation example\n" 27 << "-n Normals visualisation example\n" 28 << "-a Shapes visualisation example\n" 29 << "-v Viewports example\n" 30 << "-i Interaction Customization example\n" 31 << "\n\n"; 32 } 33 34 35 pcl::visualization::PCLVisualizer::Ptr simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud) 36 { 37 // -------------------------------------------- 38 // -----Open 3D viewer and add point cloud----- 39 // -------------------------------------------- 40 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 41 viewer->setBackgroundColor(0, 0, 0); 42 viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud"); 43 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); 44 viewer->addCoordinateSystem(2.0); 45 viewer->initCameraParameters(); 46 return (viewer); 47 } 48 49 50 pcl::visualization::PCLVisualizer::Ptr rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud) 51 { 52 // -------------------------------------------- 53 // -----Open 3D viewer and add point cloud----- 54 // -------------------------------------------- 55 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 56 viewer->setBackgroundColor(0, 0, 0); 57 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud); 58 viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud"); 59 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); 60 viewer->addCoordinateSystem(1.0); 61 viewer->initCameraParameters(); 62 return (viewer); 63 } 64 65 66 pcl::visualization::PCLVisualizer::Ptr customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud) 67 { 68 // -------------------------------------------- 69 // -----Open 3D viewer and add point cloud----- 70 // -------------------------------------------- 71 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 72 viewer->setBackgroundColor(0, 0, 0); 73 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0); 74 viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud"); 75 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); 76 viewer->addCoordinateSystem(1.0); 77 viewer->initCameraParameters(); 78 return (viewer); 79 } 80 81 82 pcl::visualization::PCLVisualizer::Ptr normalsVis( 83 pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals) 84 { 85 // -------------------------------------------------------- 86 // -----Open 3D viewer and add point cloud and normals----- 87 // -------------------------------------------------------- 88 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 89 viewer->setBackgroundColor(0, 0, 0); 90 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud); 91 viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud"); 92 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); 93 viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals, 10, 0.05, "normals"); 94 viewer->addCoordinateSystem(1.0); 95 viewer->initCameraParameters(); 96 return (viewer); 97 } 98 99 100 pcl::visualization::PCLVisualizer::Ptr shapesVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud) 101 { 102 // -------------------------------------------- 103 // -----Open 3D viewer and add point cloud----- 104 // -------------------------------------------- 105 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 106 viewer->setBackgroundColor(0, 0, 0); 107 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud); 108 viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud"); 109 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); 110 viewer->addCoordinateSystem(1.0); 111 viewer->initCameraParameters(); 112 113 //------------------------------------ 114 //-----Add shapes at cloud points----- 115 //------------------------------------ 116 viewer->addLine<pcl::PointXYZRGB>(cloud->points[0], 117 cloud->points[cloud->size() - 1], "line"); 118 //viewer->addSphere(cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere"); 119 120 //--------------------------------------- 121 //-----Add shapes at other locations----- 122 //--------------------------------------- 123 pcl::ModelCoefficients coeffs; 124 coeffs.values.push_back(0.0); 125 coeffs.values.push_back(0.0); 126 coeffs.values.push_back(1.0); 127 coeffs.values.push_back(0.0); 128 viewer->addPlane(coeffs, "plane"); 129 coeffs.values.clear(); 130 coeffs.values.push_back(0.3); 131 coeffs.values.push_back(0.3); 132 coeffs.values.push_back(0.0); 133 coeffs.values.push_back(0.0); 134 coeffs.values.push_back(1.0); 135 coeffs.values.push_back(0.0); 136 coeffs.values.push_back(5.0); 137 viewer->addCone(coeffs, "cone"); 138 139 return (viewer); 140 } 141 142 143 pcl::visualization::PCLVisualizer::Ptr viewportsVis( 144 pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud, pcl::PointCloud<pcl::Normal>::ConstPtr normals1, pcl::PointCloud<pcl::Normal>::ConstPtr normals2) 145 { 146 // -------------------------------------------------------- 147 // -----Open 3D viewer and add point cloud and normals----- 148 // -------------------------------------------------------- 149 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 150 viewer->initCameraParameters(); 151 152 int v1(0); 153 viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); 154 viewer->setBackgroundColor(0, 0, 0, v1); 155 viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1); 156 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud); 157 viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud1", v1); 158 159 int v2(0); 160 viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2); 161 viewer->setBackgroundColor(0.3, 0.3, 0.3, v2); 162 viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2); 163 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> single_color(cloud, 0, 255, 0); 164 viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "sample cloud2", v2); 165 166 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1"); 167 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2"); 168 viewer->addCoordinateSystem(1.0); 169 170 //viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals1, 10, 0.05, "normals1", v1); 171 //viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal>(cloud, normals2, 10, 0.05, "normals2", v2); 172 173 return (viewer); 174 } 175 176 177 unsigned int text_id = 0; 178 void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event, 179 void* viewer_void) 180 { 181 pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void); 182 if (event.getKeySym() == "r" && event.keyDown()) 183 { 184 std::cout << "r was pressed => removing all text" << std::endl; 185 186 char str[512]; 187 for (unsigned int i = 0; i < text_id; ++i) 188 { 189 sprintf(str, "text#%03d", i); 190 viewer->removeShape(str); 191 } 192 text_id = 0; 193 } 194 } 195 196 void mouseEventOccurred(const pcl::visualization::MouseEvent &event, 197 void* viewer_void) 198 { 199 pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void); 200 if (event.getButton() == pcl::visualization::MouseEvent::LeftButton && 201 event.getType() == pcl::visualization::MouseEvent::MouseButtonRelease) 202 { 203 std::cout << "Left mouse button released at position (" << event.getX() << ", " << event.getY() << ")" << std::endl; 204 205 char str[512]; 206 sprintf(str, "text#%03d", text_id++); 207 viewer->addText("clicked here", event.getX(), event.getY(), str); 208 } 209 } 210 211 pcl::visualization::PCLVisualizer::Ptr interactionCustomizationVis() 212 { 213 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 214 viewer->setBackgroundColor(0, 0, 0); 215 viewer->addCoordinateSystem(1.0); 216 217 viewer->registerKeyboardCallback(keyboardEventOccurred, (void*)viewer.get()); 218 viewer->registerMouseCallback(mouseEventOccurred, (void*)viewer.get()); 219 220 return (viewer); 221 } 222 223 224 // -------------- 225 // -----Main----- 226 // -------------- 227 int 228 main(int argc, char** argv) 229 { 230 bool simple(false), rgb(false), custom_c(false), normals(true), 231 shapes(false), viewports(false), interaction_customization(false); 232 233 // ------------------------------------ 234 // -----Create example point cloud----- 235 // ------------------------------------ 236 pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>); 237 pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>); 238 std::cout << "Generating example point clouds.\n\n"; 239 // We're going to make an ellipse extruded along the z-axis. The colour for 240 // the XYZRGB cloud will gradually go from red to green to blue. 241 uint8_t r(255), g(15), b(15); 242 for (float z(-1.0); z <= 1.0; z += 0.05) 243 { 244 for (float angle(0.0); angle <= 360.0; angle += 5.0) 245 { 246 pcl::PointXYZ basic_point; 247 basic_point.x = 0.5 * cosf(pcl::deg2rad(angle)); 248 basic_point.y = sinf(pcl::deg2rad(angle)); 249 basic_point.z = z; 250 basic_cloud_ptr->points.push_back(basic_point); 251 252 pcl::PointXYZRGB point; 253 point.x = basic_point.x; 254 point.y = basic_point.y; 255 point.z = basic_point.z; 256 uint32_t rgb = (static_cast<uint32_t>(r) << 16 | 257 static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b)); 258 point.rgb = *reinterpret_cast<float*>(&rgb); 259 point_cloud_ptr->points.push_back(point); 260 } 261 if (z < 0.0) 262 { 263 r -= 12; 264 g += 12; 265 } 266 else 267 { 268 g -= 12; 269 b += 12; 270 } 271 } 272 basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size(); 273 basic_cloud_ptr->height = 1; 274 point_cloud_ptr->width = (int)point_cloud_ptr->points.size(); 275 point_cloud_ptr->height = 1; 276 277 // ---------------------------------------------------------------- 278 // -----Calculate surface normals with a search radius of 0.05----- 279 // ---------------------------------------------------------------- 280 pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne; 281 ne.setInputCloud(point_cloud_ptr); 282 pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGB>()); 283 ne.setSearchMethod(tree); 284 pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1(new pcl::PointCloud<pcl::Normal>); 285 ne.setRadiusSearch(0.05); 286 ne.compute(*cloud_normals1); 287 288 // --------------------------------------------------------------- 289 // -----Calculate surface normals with a search radius of 0.1----- 290 // --------------------------------------------------------------- 291 pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2(new pcl::PointCloud<pcl::Normal>); 292 ne.setRadiusSearch(0.1); 293 ne.compute(*cloud_normals2); 294 // --------------------------------------------------------------- 295 296 pcl::visualization::PCLVisualizer::Ptr viewer; 297 if (simple) 298 { 299 viewer = simpleVis(basic_cloud_ptr); 300 } 301 else if (rgb) 302 { 303 viewer = rgbVis(point_cloud_ptr); 304 } 305 else if (custom_c) 306 { 307 viewer = customColourVis(basic_cloud_ptr); 308 } 309 else if (normals) 310 { 311 viewer = normalsVis(point_cloud_ptr, cloud_normals2); 312 } 313 else if (shapes) 314 { 315 viewer = shapesVis(point_cloud_ptr); 316 } 317 else if (viewports) 318 { 319 viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2); 320 } 321 else if (interaction_customization) 322 { 323 viewer = interactionCustomizationVis(); 324 } 325 326 //-------------------- 327 // -----Main loop----- 328 //-------------------- 329 while (!viewer->wasStopped()) 330 { 331 viewer->spinOnce(100); 332 std::this_thread::sleep_for(100ms); 333 } 334 }
PCLPlotter
PCLPlotter provides a very straightforward and easy interface for plotting graphs. One can visualize all sort of important plots - from polynomial functions to histograms - inside the library without going to any other software (like MATLAB).
1 /* \author Kripasindhu Sarkar */ 2 3 #include<pcl/visualization/pcl_plotter.h> 4 5 #include<iostream> 6 #include<vector> 7 #include<utility> 8 #include<math.h> //for abs() 9 10 using namespace std; 11 using namespace pcl::visualization; 12 13 void 14 generateData(double *ax, double *acos, double *asin, int numPoints) 15 { 16 double inc = 7.5 / (numPoints - 1); 17 for (int i = 0; i < numPoints; ++i) 18 { 19 ax[i] = i*inc; 20 acos[i] = cos(i * inc); 21 asin[i] = sin(i * inc); 22 } 23 } 24 25 //.....................callback functions defining Y= f(X).................... 26 double 27 step(double val) 28 { 29 if (val > 0) 30 return (double)(int)val; 31 else 32 return (double)((int)val - 1); 33 } 34 35 double 36 identity1(double val) 37 { 38 return val; 39 } 40 //............................................................................ 41 42 int 43 main(int argc, char * argv[]) 44 { 45 //defining a plotter 46 PCLPlotter *plotter = new PCLPlotter("My Plotter"); 47 48 //setting some properties 49 plotter->setShowLegend(true); 50 51 //generating point correspondances 52 int numPoints = 69; 53 double ax[100], acos[100], asin[100]; 54 generateData(ax, acos, asin, numPoints); 55 56 //adding plot data 57 plotter->addPlotData(ax, acos, numPoints, "cos"); 58 plotter->addPlotData(ax, asin, numPoints, "sin"); 59 60 //display for 2 seconds 61 plotter->spinOnce(3000); 62 plotter->clearPlots(); 63 64 65 //...................plotting implicit functions and custom callbacks.................... 66 67 //make a fixed axis 68 plotter->setYRange(-10, 10); 69 70 //defining polynomials 71 vector<double> func1(1, 0); 72 func1[0] = 1; //y = 1 73 vector<double> func2(3, 0); 74 func2[2] = 1; //y = x^2 75 76 plotter->addPlotData(std::make_pair(func1, func2), -10, 10, "y = 1/x^2", 100, vtkChart::POINTS); 77 plotter->spinOnce(2000); 78 79 plotter->addPlotData(func2, -10, 10, "y = x^2"); 80 plotter->spinOnce(2000); 81 82 //callbacks 83 plotter->addPlotData(identity1, -10, 10, "identity"); 84 plotter->spinOnce(2000); 85 86 plotter->addPlotData(abs, -10, 10, "abs"); 87 plotter->spinOnce(2000); 88 89 plotter->addPlotData(step, -10, 10, "step", 100, vtkChart::POINTS); 90 plotter->spinOnce(2000); 91 92 plotter->clearPlots(); 93 94 //........................A simple animation.............................. 95 vector<double> fsq(3, 0); 96 fsq[2] = -100; //y = x^2 97 while (!plotter->wasStopped()) 98 { 99 if (fsq[2] == 100) fsq[2] = -100; 100 fsq[2]++; 101 char str[50]; 102 sprintf(str, "y = %dx^2", (int)fsq[2]); 103 plotter->addPlotData(fsq, -10, 10, str); 104 105 plotter->spinOnce(100); 106 plotter->clearPlots(); 107 } 108 109 return 1; 110 }
