C++ visualization::PCLVisualizer类代码示例

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, 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15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: 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11: 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

示例12: switch

void 
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
  double opacity;
  if (event.keyUp())
  {
    switch (event.getKeyCode())
    {
      case '1':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "nan boundary edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "nan boundary edges");
        break;
      case '2':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluding edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluding edges");
        break;
      case '3':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluded edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluded edges");
        break;
      case '4':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "high curvature edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "high curvature edges");
        break;
      case '5':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "rgb edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "rgb edges");
        break;
    }
  }
}

开发者ID:Bardo91，项目名称:pcl，代码行数:31，代码来源:pcd_organized_edge_detection.cpp

示例13: runtime_error

int
main (int argc, char *argv[])
{
  std::string pcd_file;

  if (argc > 1)
  {
    pcd_file = argv[1];
  }
  else
  {
    printf ("\nUsage: pcl_example_nurbs_fitting_curve pcd-file \n\n");
    printf ("  pcd-file    point-cloud file\n");
    exit (0);
  }

  // #################### LOAD FILE #########################
  printf ("  loading %s\n", pcd_file.c_str ());
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PCLPointCloud2 cloud2;

  if (pcl::io::loadPCDFile (pcd_file, cloud2) == -1)
    throw std::runtime_error ("  PCD file not found.");

  fromPCLPointCloud2 (cloud2, *cloud);

  // convert to NURBS data structure
  pcl::on_nurbs::NurbsDataCurve2d data;
  PointCloud2Vector2d (cloud, data.interior);

  viewer.setSize (800, 600);
  viewer.addPointCloud<pcl::PointXYZ> (cloud, "cloud");

  // #################### CURVE PARAMETERS #########################
  unsigned order (3);
  unsigned n_control_points (10);

  pcl::on_nurbs::FittingCurve2d::Parameter curve_params;
  curve_params.smoothness = 0.000001;
  curve_params.rScale = 1.0;

  // #################### CURVE FITTING #########################
  ON_NurbsCurve curve = pcl::on_nurbs::FittingCurve2d::initNurbsPCA (order, &data, n_control_points);

  pcl::on_nurbs::FittingCurve2d fit (&data, curve);
  fit.assemble (curve_params);

  Eigen::Vector2d fix1 (0.1, 0.1);
  Eigen::Vector2d fix2 (1.0, 0.0);
//  fit.addControlPointConstraint (0, fix1, 100.0);
//  fit.addControlPointConstraint (curve.CVCount () - 1, fix2, 100.0);

  fit.solve ();

  // visualize
  VisualizeCurve (fit.m_nurbs, 1.0, 0.0, 0.0, true);
  viewer.spin ();

  return 0;
}

开发者ID:2php，项目名称:pcl，代码行数:60，代码来源:example_nurbs_fitting_curve2d.cpp

示例14: update

  /* \brief Visual update. Create visualizations and add them to the viewer
   *
   */
  void update()
  {
    //remove existing shapes from visualizer
    clearView();

    //prevent the display of too many cubes
    bool displayCubeLegend = displayCubes && static_cast<int> (displayCloud->points.size ()) <= MAX_DISPLAYED_CUBES;

    showLegend(displayCubeLegend);

    if (displayCubeLegend)
    {
      //show octree as cubes
      showCubes(sqrt(octree.getVoxelSquaredSideLen(displayedDepth)));
      if (showPointsWithCubes)
      {
        //add original cloud in visualizer
        pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler(cloud, "z");
        viz.addPointCloud(cloud, color_handler, "cloud");
      }
    }
    else
    {
      //add current cloud in visualizer
      pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler(displayCloud,"z");
      viz.addPointCloud(displayCloud, color_handler, "cloud");
    }
  }

开发者ID:Eilvrin，项目名称:pcl，代码行数:31，代码来源:octree_viewer.cpp

示例15: OnNewMapFrame

    void OnNewMapFrame(pcl::PointCloud< pcl::PointXYZ > mapFrame)
    {
        _viewer.removeAllPointClouds(0);
        _viewer.addPointCloud(mapFrame.makeShared(), "map");
        _viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "map");
        _viewer.spinOnce();

    }

开发者ID:bennuttle，项目名称:igvc-software，代码行数:8，代码来源:TestLaneFilter.cpp

注：本文中的pcl::visualization::PCLVisualizer类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，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。