C++ PCLVisualizer::addSphere方法代码示例

// 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);

}

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;
}

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;
}

void
viewer_matched_cloud(pcl::visualization::PCLVisualizer& viewer)
{
	int text_id(0);
  long cloud_size = matched_cloud->width * matched_cloud->height;
	std::stringstream info;
	info << "Points in matched cloud: " << cloud_size;
  std::cout << "Matched cloud rendered with " << cloud_size << " points" << std::endl;
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(initial_cloud, 0, 255, 0);
  viewer.addPointCloud<pcl::PointXYZ> (matched_cloud, single_color, "matched cloud");
  viewer.addText(info.str(), 10, 20, "points", text_id);
  if (r > 0)
  {
    viewer.addSphere (o, r, "sphere", 0);
  }
}

void PbMapMaker::viz_cb (pcl::visualization::PCLVisualizer& viz)
{
  if (mPbMap.globalMapPtr->empty())
  {
    mrpt::system::sleep(10);
    return;
  }

  { mrpt::synch::CCriticalSectionLocker csl(&CS_visualize);

    // Render the data
    {
      viz.removeAllShapes();
      viz.removeAllPointClouds();

      char name[1024];

      if(graphRepresentation)
      {
        for(size_t i=0; i<mPbMap.vPlanes.size(); i++)
        {
          pcl::PointXYZ center(2*mPbMap.vPlanes[i].v3center[0], 2*mPbMap.vPlanes[i].v3center[1], 2*mPbMap.vPlanes[i].v3center[2]);
          double radius = 0.1 * sqrt(mPbMap.vPlanes[i].areaVoxels);
          sprintf (name, "sphere%u", static_cast<unsigned>(i));
          viz.addSphere (center, radius, ared[i%10], agrn[i%10], ablu[i%10], name);

          if( !mPbMap.vPlanes[i].label.empty() )
              viz.addText3D (mPbMap.vPlanes[i].label, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], mPbMap.vPlanes[i].label);
          else
          {
            sprintf (name, "P%u", static_cast<unsigned>(i));
            viz.addText3D (name, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
          }

          // Draw edges
          if(!configPbMap.graph_mode) // Nearby neighbors
            for(set<unsigned>::iterator it = mPbMap.vPlanes[i].nearbyPlanes.begin(); it != mPbMap.vPlanes[i].nearbyPlanes.end(); it++)
            {
              if(*it > mPbMap.vPlanes[i].id)
                break;

              sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(*it));
              pcl::PointXYZ center_it(2*mPbMap.vPlanes[*it].v3center[0], 2*mPbMap.vPlanes[*it].v3center[1], 2*mPbMap.vPlanes[*it].v3center[2]);
              viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
            }
          else
            for(map<unsigned,unsigned>::iterator it = mPbMap.vPlanes[i].neighborPlanes.begin(); it != mPbMap.vPlanes[i].neighborPlanes.end(); it++)
            {
              if(it->first > mPbMap.vPlanes[i].id)
                break;

              sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
              pcl::PointXYZ center_it(2*mPbMap.vPlanes[it->first].v3center[0], 2*mPbMap.vPlanes[it->first].v3center[1], 2*mPbMap.vPlanes[it->first].v3center[2]);
              viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);

              sprintf (name, "edge%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
              char commonObs[8];
              sprintf (commonObs, "%u", it->second);
              pcl::PointXYZ half_edge( (center_it.x+center.x)/2, (center_it.y+center.y)/2, (center_it.z+center.z)/2 );
              viz.addText3D (commonObs, half_edge, 0.05, 1.0, 1.0, 1.0, name);
            }

        }
      }
      else
      { // Regular representation

        if (!viz.updatePointCloud (mPbMap.globalMapPtr, "cloud"))
          viz.addPointCloud (mPbMap.globalMapPtr, "cloud");

        if(mpPbMapLocaliser != NULL)
          if(mpPbMapLocaliser->alignedModelPtr){
            if (!viz.updatePointCloud (mpPbMapLocaliser->alignedModelPtr, "model"))
              viz.addPointCloud (mpPbMapLocaliser->alignedModelPtr, "model");}

        sprintf (name, "PointCloud size %u", static_cast<unsigned>( mPbMap.globalMapPtr->size() ) );
        viz.addText(name, 10, 20);

        for(size_t i=0; i<mPbMap.vPlanes.size(); i++)
        {
          Plane &plane_i = mPbMap.vPlanes[i];
          sprintf (name, "normal_%u", static_cast<unsigned>(i));
          pcl::PointXYZ pt1, pt2; // Begin and end points of normal's arrow for visualization
          pt1 = pcl::PointXYZ(plane_i.v3center[0], plane_i.v3center[1], plane_i.v3center[2]);
          pt2 = pcl::PointXYZ(plane_i.v3center[0] + (0.5f * plane_i.v3normal[0]),
                              plane_i.v3center[1] + (0.5f * plane_i.v3normal[1]),
                              plane_i.v3center[2] + (0.5f * plane_i.v3normal[2]));
          viz.addArrow (pt2, pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);

          // Draw Ppal diretion
//          if( plane_i.elongation > 1.3 )
//          {
//            sprintf (name, "ppalComp_%u", static_cast<unsigned>(i));
//            pcl::PointXYZ pt3 = pcl::PointXYZ ( plane_i.v3center[0] + (0.2f * plane_i.v3PpalDir[0]),
//                                                plane_i.v3center[1] + (0.2f * plane_i.v3PpalDir[1]),
//                                                plane_i.v3center[2] + (0.2f * plane_i.v3PpalDir[2]));
//            viz.addArrow (pt3, plane_i.pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);
//          }

//          if( !plane_i.label.empty() )
//.........这里部分代码省略.........

void PbMapVisualizer::viz_cb (pcl::visualization::PCLVisualizer& viz)
{
  if (pbmap.globalMapPtr->empty())
  {
    mrpt::system::sleep(10);
    return;
  }

  // Render the data
  {
    viz.removeAllShapes();
    viz.removeAllPointClouds();

    char name[1024];

    if(graphRepresentation)
    {
//      cout << "show graphRepresentation\n";
      for(size_t i=0; i<pbmap.vPlanes.size(); i++)
      {
        pcl::PointXYZ center(2*pbmap.vPlanes[i].v3center[0], 2*pbmap.vPlanes[i].v3center[1], 2*pbmap.vPlanes[i].v3center[2]);
        double radius = 0.1 * sqrt(pbmap.vPlanes[i].areaVoxels);
//        cout << "radius " << radius << endl;
        sprintf (name, "sphere%u", static_cast<unsigned>(i));
        viz.addSphere (center, radius, ared[i%10], agrn[i%10], ablu[i%10], name);

        if( !pbmap.vPlanes[i].label.empty() )
            viz.addText3D (pbmap.vPlanes[i].label, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], pbmap.vPlanes[i].label);
        else
        {
          sprintf (name, "P%u", static_cast<unsigned>(i));
          viz.addText3D (name, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
        }

        // Draw edges
//        for(set<unsigned>::iterator it = pbmap.vPlanes[i].nearbyPlanes.begin(); it != pbmap.vPlanes[i].nearbyPlanes.end(); it++)
//        {
//          if(*it > pbmap.vPlanes[i].id)
//            break;
//
//          sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(*it));
//          pcl::PointXYZ center_it(2*pbmap.vPlanes[*it].v3center[0], 2*pbmap.vPlanes[*it].v3center[1], 2*pbmap.vPlanes[*it].v3center[2]);
//          viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
//        }
        for(map<unsigned,unsigned>::iterator it = pbmap.vPlanes[i].neighborPlanes.begin(); it != pbmap.vPlanes[i].neighborPlanes.end(); it++)
        {
          if(it->first > pbmap.vPlanes[i].id)
            break;

          sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
          pcl::PointXYZ center_it(2*pbmap.vPlanes[it->first].v3center[0], 2*pbmap.vPlanes[it->first].v3center[1], 2*pbmap.vPlanes[it->first].v3center[2]);
          viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);

          sprintf (name, "edge%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
          char commonObs[8];
          sprintf (commonObs, "%u", it->second);
          pcl::PointXYZ half_edge( (center_it.x+center.x)/2, (center_it.y+center.y)/2, (center_it.z+center.z)/2 );
          viz.addText3D (commonObs, half_edge, 0.05, 1.0, 1.0, 1.0, name);
        }
      }
    }
    else
    { // Regular representation
      if (!viz.updatePointCloud (pbmap.globalMapPtr, "cloud"))
        viz.addPointCloud (pbmap.globalMapPtr, "cloud");

      sprintf (name, "PointCloud size %u", static_cast<unsigned>( pbmap.globalMapPtr->size() ) );
      viz.addText(name, 10, 20);

      for(size_t i=0; i<pbmap.vPlanes.size(); i++)
      {
        Plane &plane_i = pbmap.vPlanes[i];
//        sprintf (name, "normal_%u", static_cast<unsigned>(i));
        name[0] = *(mrpt::format("normal_%u", static_cast<unsigned>(i)).c_str());
        pcl::PointXYZ pt1, pt2; // Begin and end points of normal's arrow for visualization
        pt1 = pcl::PointXYZ(plane_i.v3center[0], plane_i.v3center[1], plane_i.v3center[2]);
        pt2 = pcl::PointXYZ(plane_i.v3center[0] + (0.5f * plane_i.v3normal[0]),
                            plane_i.v3center[1] + (0.5f * plane_i.v3normal[1]),
                            plane_i.v3center[2] + (0.5f * plane_i.v3normal[2]));
        viz.addArrow (pt2, pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);

        if( !plane_i.label.empty() )
          viz.addText3D (plane_i.label, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], plane_i.label);
        else
        {
          sprintf (name, "n%u", static_cast<unsigned>(i));
          viz.addText3D (name, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
        }

        sprintf (name, "approx_plane_%02d", int (i));
        viz.addPolygon<PointT> (plane_i.polygonContourPtr, 0.5 * red[i%10], 0.5 * grn[i%10], 0.5 * blu[i%10], name);
      }
    }
  }
}

void run(pcl::RFFaceDetectorTrainer & fdrf, typename pcl::PointCloud<PointInT>::Ptr & scene_vis, pcl::visualization::PCLVisualizer & vis, bool heat_map,
    bool show_votes, const std::string & filename)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr scene (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::copyPointCloud (*scene_vis, *scene);

  fdrf.setInputCloud (scene);

  if (heat_map)
  {
    pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_cloud (new pcl::PointCloud<pcl::PointXYZI>);
    fdrf.setFaceHeatMapCloud (intensity_cloud);
  }

  fdrf.detectFaces ();

  typedef typename pcl::traits::fieldList<PointInT>::type FieldListM;

  double rgb_m;
  bool exists_m;
  pcl::for_each_type < FieldListM > (pcl::CopyIfFieldExists<PointInT, double> (scene_vis->points[0], "rgb", exists_m, rgb_m));

  std::cout << "Color exists:" << static_cast<int> (exists_m) << std::endl;
  if (exists_m)
  {
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr to_visualize (new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::copyPointCloud (*scene_vis, *to_visualize);

    pcl::visualization::PointCloudColorHandlerRGBField < pcl::PointXYZRGB > handler_keypoints (to_visualize);
    vis.addPointCloud < pcl::PointXYZRGB > (to_visualize, handler_keypoints, "scene_cloud");
  } else
  {
    vis.addPointCloud (scene_vis, "scene_cloud");
  }

  if (heat_map)
  {
    pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_cloud (new pcl::PointCloud<pcl::PointXYZI>);
    fdrf.getFaceHeatMap (intensity_cloud);

    pcl::visualization::PointCloudColorHandlerGenericField < pcl::PointXYZI > handler_keypoints (intensity_cloud, "intensity");
    vis.addPointCloud < pcl::PointXYZI > (intensity_cloud, handler_keypoints, "heat_map");
  }

  if (show_votes)
  {
    //display votes_
    /*pcl::PointCloud<pcl::PointXYZ>::Ptr votes_cloud(new pcl::PointCloud<pcl::PointXYZ>());
     fdrf.getVotes(votes_cloud);
     pcl::visualization::PointCloudColorHandlerCustom < pcl::PointXYZ > handler_votes(votes_cloud, 255, 0, 0);
     vis.addPointCloud < pcl::PointXYZ > (votes_cloud, handler_votes, "votes_cloud");
     vis.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
     vis.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5, "votes_cloud");
     vis.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.75, "votes_cloud");*/

    pcl::PointCloud<pcl::PointXYZI>::Ptr votes_cloud (new pcl::PointCloud<pcl::PointXYZI> ());
    fdrf.getVotes2 (votes_cloud);
    pcl::visualization::PointCloudColorHandlerGenericField < pcl::PointXYZI > handler_votes (votes_cloud, "intensity");
    vis.addPointCloud < pcl::PointXYZI > (votes_cloud, handler_votes, "votes_cloud");
    vis.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
  }

  vis.addCoordinateSystem (0.1, "global");

  std::vector<Eigen::VectorXd> heads;
  fdrf.getDetectedFaces (heads);
  face_detection_apps_utils::displayHeads (heads, vis);

  if (SHOW_GT)
  {
    //check if there is ground truth data
    std::string pose_file (filename);
    boost::replace_all (pose_file, ".pcd", "_pose.txt");

    Eigen::Matrix4d pose_mat;
    pose_mat.setIdentity (4, 4);
    bool result = face_detection_apps_utils::readMatrixFromFile (pose_file, pose_mat);

    if (result)
    {
      Eigen::Vector3d ea = pose_mat.block<3, 3> (0, 0).eulerAngles (0, 1, 2);
      Eigen::Vector3d trans_vector = Eigen::Vector3d (pose_mat (0, 3), pose_mat (1, 3), pose_mat (2, 3));
      std::cout << ea << std::endl;
      std::cout << trans_vector << std::endl;

      pcl::PointXYZ center_point;
      center_point.x = trans_vector[0];
      center_point.y = trans_vector[1];
      center_point.z = trans_vector[2];
      vis.addSphere (center_point, 0.05, 255, 0, 0, "sphere");

      pcl::ModelCoefficients cylinder_coeff;
      cylinder_coeff.values.resize (7); // We need 7 values
      cylinder_coeff.values[0] = center_point.x;
      cylinder_coeff.values[1] = center_point.y;
      cylinder_coeff.values[2] = center_point.z;

      cylinder_coeff.values[3] = ea[0];
      cylinder_coeff.values[4] = ea[1];
      cylinder_coeff.values[5] = ea[2];
//.........这里部分代码省略.........