PCL学习笔记（2）：点云视窗类CloudViewer的介绍以及PCL程序：代

有关CloudViewer类的成员变量和函数等等，可以在C:\Program Files\PCL 1.6.0\include\pcl-1.6\pcl\visualization\impl目录下的pcl_visualizer.hpp文件中查看。

/*

*PCL安装和环境配置请参考：

*

*代码中加载的点云文件my_point_cloud.pcd，可以去下面地址复制粘贴：

*

*/

//以下笔记于2015年2月5日修正：

一、PCL程序：

#include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>int user_data;void viewerOneOff (pcl::visualization::PCLVisualizer& viewer){//设置背景颜色viewer.setBackgroundColor (1.0, 0.5, 1.0);//球体坐标pcl::PointXYZ o;o.x = 0;o.y = 0;o.z = 0;//添加球体viewer.addSphere (o, 1, "sphere", 0);std::cout << "i only run once" << std::endl;}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++;}int main (){pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud); //加载点云文件pcl::visualization::CloudViewer viewer("Cloud Viewer");//创建viewer对象//blocks until the cloud is actually renderedviewer.showCloud(cloud);//use the following functions to get access to the underlying more advanced/powerful//PCLVisualizer//This will only get called onceviewer.runOnVisualizationThreadOnce (viewerOneOff);//This will get called once per visualization iterationviewer.runOnVisualizationThread (viewerPsycho);while (!viewer.wasStopped ()){//you can also do cool processing here//FIXME: Note that this is running in a separate thread from viewerPsycho//and you should guard against race conditions yourself…user_data++;}return 0;}

二、代码解析

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)//该函数功能是设置viewer信息{//设置背景颜色viewer.setBackgroundColor (1.0, 0.5, 1.0);//添加球体viewer.addSphere (o, 1, "sphere", 0);}

1.viewer.addSphere ()才是添加一个球体，第二个参数1是半径，，第四个参数置0可见，置1不可见。初学者可能会误以为，程序运行后的球体是程序后面部分加载的点云文件里的点所构成，其实不是的。

2.pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud); 加载工程目录下my_point_cloud.pcd文件，该文件中的三维点，描绘的其实是point cloud library 的logo,见下图。【请仔细看~~~！】

如果我们不调用viewer.addSphere ()，运行结果就会是：就非常好看了。

PCD文件的格式说明可参考?lang=cn&id=54

3.同时有球体和logo的图，半径=5。

如果我们只是注释掉setBackgroundColor这一句，效果如下图：

建立my_point_cloud.pcd文件，请点击

文件数据内容附在下边：

<span style="font-size:14px;"><span style="font-size:14px;"># .PCD v.7 – Point Cloud Data file format VERSION .7 FIELDS x y z rgb SIZE 4 4 4 4 TYPE F F F F COUNT 1 1 1 1 WIDTH 213 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 213 DATA ascii 0.93773 0.33763 0 4.2108e+06 0.90805 0.35641 0 4.2108e+06 0.81915 0.32 0 4.2108e+06 0.97192 0.278 0 4.2108e+06 0.944 0.29474 0 4.2108e+06 0.98111 0.24247 0 4.2108e+06 0.93655 0.26143 0 4.2108e+06 0.91631 0.27442 0 4.2108e+06 0.81921 0.29315 0 4.2108e+06 0.90701 0.24109 0 4.2108e+06 0.83239 0.23398 0 4.2108e+06 0.99185 0.2116 0 4.2108e+06 0.89264 0.21174 0 4.2108e+06 0.85082 0.21212 0 4.2108e+06 0.81044 0.32222 0 4.2108e+06 0.74459 0.32192 0 4.2108e+06 0.69927 0.32278 0 4.2108e+06 0.8102 0.29315 0 4.2108e+06 0.75504 0.29765 0 4.2108e+06 0.8102 0.24399 0 4.2108e+06 0.74995 0.24723 0 4.2108e+06 0.68049 0.29768 0 4.2108e+06 0.66509 0.29002 0 4.2108e+06 0.69441 0.2526 0 4.2108e+06 0.62807 0.22187 0 4.2108e+06 0.58706 0.32199 0 4.2108e+06 0.52125 0.31955 0 4.2108e+06 0.49351 0.32282 0 4.2108e+06 0.44313 0.32169 0 4.2108e+06 0.58678 0.2929 0 4.2108e+06 0.53436 0.29164 0 4.2108e+06 0.59308 0.24134 0 4.2108e+06 0.5357 0.2444 0 4.2108e+06 0.50043 0.31235 0 4.2108e+06 0.44107 0.29711 0 4.2108e+06 0.50727 0.22193 0 4.2108e+06 0.43957 0.23976 0 4.2108e+06 0.8105 0.21112 0 4.2108e+06 0.73555 0.2114 0 4.2108e+06 0.69907 0.21082 0 4.2108e+06 0.63327 0.21154 0 4.2108e+06 0.59165 0.21201 0 4.2108e+06 0.52477 0.21491 0 4.2108e+06 0.49375 0.21006 0 4.2108e+06 0.4384 0.19632 0 4.2108e+06 0.43425 0.16052 0 4.2108e+06 0.3787 0.32173 0 4.2108e+06 0.33444 0.3216 0 4.2108e+06 0.23815 0.32199 0 4.808e+06 0.3788 0.29315 0 4.2108e+06 0.33058 0.31073 0 4.2108e+06 0.3788 0.24399 0 4.2108e+06 0.30249 0.29189 0 4.2108e+06 0.23492 0.29446 0 4.808e+06 0.29465 0.24399 0 4.2108e+06 0.23514 0.24172 0 4.808e+06 0.18836 0.32277 0 4.808e+06 0.15992 0.32176 0 4.808e+06 0.08642 0.32181 0 4.808e+06 0.039994 0.32283 0 4.808e+06 0.20039 0.31211 0 4.808e+06 0.1417 0.29506 0 4.808e+06 0.20921 0.22332 0 4.808e+06 0.13884 0.24227 0 4.808e+06 0.085123 0.29441 0 4.808e+06 0.048446 0.31279 0 4.808e+06 0.086957 0.24399 0 4.808e+06 0.3788 0.21189 0 4.2108e+06 0.29465 0.19323 0 4.2108e+06 0.23755 0.19348 0 4.808e+06 0.29463 0.16054 0 4.2108e+06 0.23776 0.16054 0 4.808e+06 0.19016 0.21038 0 4.808e+06 0.15704 0.21245 0 4.808e+06 0.08678 0.21169 0 4.808e+06 0.012746 0.32168 0 4.808e+06 -0.075715 0.32095 0 4.808e+06 -0.10622 0.32304 0 4.808e+06 -0.16391 0.32118 0 4.808e+06 0.00088411 0.29487 0 4.808e+06 -0.057568 0.29457 0 4.808e+06 -0.0034333 0.24399 0 4.808e+06 -0.055185 0.24185 0 4.808e+06 -0.10983 0.31352 0 4.808e+06 -0.15082 0.29453 0 4.808e+06 -0.11534 0.22049 0 4.808e+06 -0.15155 0.24381 0 4.808e+06 -0.1912 0.32173 0 4.808e+06 -0.281 0.3185 0 4.808e+06 -0.30791 0.32307 0 4.808e+06 -0.33854 0.32148 0 4.808e+06 -0.21248 0.29805 0 4.808e+06 -0.26372 0.29905 0 4.808e+06 -0.22562 0.24399 0 4.808e+06 -0.25035 0.2371 0 4.808e+06 -0.29941 0.31191 0 4.808e+06 -0.35845 0.2954 0 4.808e+06 -0.29231 0.22236 0 4.808e+06 -0.36101 0.24172 0 4.808e+06 -0.0034393 0.21129 0 4.808e+06 -0.07306 0.21304 0 4.808e+06 -0.10579 0.2099 0 4.808e+06 -0.13642 0.21411 0 4.808e+06 -0.22562 0.19323 0 4.808e+06 -0.24439 0.19799 0 4.808e+06 -0.22591 0.16041 0 4.808e+06 -0.23466 0.16082 0 4.808e+06 -0.3077 0.20998 0 4.808e+06 -0.3413 0.21239 0 4.808e+06 -0.40551 0.32178 0 4.2108e+06 -0.50568 0.3218 0 4.2108e+06 -0.41732 0.30844 0 4.2108e+06 -0.44237 0.28859 0 4.2108e+06 -0.41591 0.22004 0 4.2108e+06 -0.44803 0.24236 0 4.2108e+06 -0.50623 0.29315 0 4.2108e+06 -0.50916 0.24296 0 4.2108e+06 -0.57019 0.22334 0 4.2108e+06 -0.59611 0.32199 0 4.2108e+06 -0.65104 0.32199 0 4.2108e+06 -0.72566 0.32129 0 4.2108e+06 -0.75538 0.32301 0 4.2108e+06 -0.59653 0.29315 0 4.2108e+06 -0.65063 0.29315 0 4.2108e+06 -0.59478 0.24245 0 4.2108e+06 -0.65063 0.24399 0 4.2108e+06 -0.70618 0.29525 0 4.2108e+06 -0.76203 0.31284 0 4.2108e+06 -0.70302 0.24183 0 4.2108e+06 -0.77062 0.22133 0 4.2108e+06 -0.41545 0.21099 0 4.2108e+06 -0.45004 0.19812 0 4.2108e+06 -0.4475 0.1673 0 4.2108e+06 -0.52031 0.21236 0 4.2108e+06 -0.55182 0.21045 0 4.2108e+06 -0.5965 0.21131 0 4.2108e+06 -0.65064 0.2113 0 4.2108e+06 -0.72216 0.21286 0 4.2108e+06 -0.7556 0.20987 0 4.2108e+06 -0.78343 0.31973 0 4.2108e+06 -0.87572 0.32111 0 4.2108e+06 -0.90519 0.32263 0 4.2108e+06 -0.95526 0.34127 0 4.2108e+06 -0.79774 0.29271 0 4.2108e+06 -0.85618 0.29497 0 4.2108e+06 -0.79975 0.24326 0 4.2108e+06 -0.8521 0.24246 0 4.2108e+06 -0.91157 0.31224 0 4.2108e+06 -0.95031 0.29572 0 4.2108e+06 -0.92223 0.2213 0 4.2108e+06 -0.94979 0.24354 0 4.2108e+06 -0.78641 0.21505 0 4.2108e+06 -0.87094 0.21237 0 4.2108e+06 -0.90637 0.20934 0 4.2108e+06 -0.93777 0.21481 0 4.2108e+06 0.22244 -0.0296 0 4.808e+06 0.2704 -0.078167 0 4.808e+06 0.24416 -0.056883 0 4.808e+06 0.27311 -0.10653 0 4.808e+06 0.26172 -0.10653 0 4.808e+06 0.2704 -0.1349 0 4.808e+06 0.24428 -0.15599 0 4.808e+06 0.19017 -0.025297 0 4.808e+06 0.14248 -0.02428 0 4.808e+06 0.19815 -0.037432 0 4.808e+06 0.14248 -0.03515 0 4.808e+06 0.093313 -0.02428 0 4.808e+06 0.044144 -0.02428 0 4.808e+06 0.093313 -0.03515 0 4.808e+06 0.044144 -0.03515 0 4.808e+06 0.21156 -0.17357 0 4.808e+06 0.029114 -0.12594 0 4.2108e+06 0.036583 -0.15619 0 4.2108e+06 0.22446 -0.20514 0 4.808e+06 0.2208 -0.2369 0 4.808e+06 0.2129 -0.208 0 4.808e+06 0.19316 -0.25672 0 4.808e+06 0.14497 -0.27484 0 4.808e+06 0.030167 -0.18748 0 4.2108e+06 0.1021 -0.27453 0 4.808e+06 0.1689 -0.2831 0 4.808e+06 0.13875 -0.28647 0 4.808e+06 0.086993 -0.29568 0 4.808e+06 0.044924 -0.3154 0 4.808e+06 -0.0066125 -0.02428 0 4.808e+06 -0.057362 -0.02428 0 4.808e+06 -0.0066125 -0.03515 0 4.808e+06 -0.057362 -0.03515 0 4.808e+06 -0.10653 -0.02428 0 4.808e+06 -0.15266 -0.025282 0 4.808e+06 -0.10653 -0.03515 0 4.808e+06 -0.16036 -0.037257 0 4.808e+06 0.0083286 -0.1259 0 4.2108e+06 0.0007442 -0.15603 0 4.2108e+06 -0.1741 -0.17381 0 4.808e+06 -0.18502 -0.02954 0 4.808e+06 -0.20707 -0.056403 0 4.808e+06 -0.23348 -0.07764 0 4.808e+06 -0.2244 -0.10653 0 4.808e+06 -0.23604 -0.10652 0 4.808e+06 -0.20734 -0.15641 0 4.808e+06 -0.23348 -0.13542 0 4.808e+06 0.0061083 -0.18729 0 4.2108e+06 -0.066235 -0.27472 0 4.808e+06 -0.17577 -0.20789 0 4.808e+06 -0.10861 -0.27494 0 4.808e+06 -0.15584 -0.25716 0 4.808e+06 -0.0075775 -0.31546 0 4.808e+06 -0.050817 -0.29595 0 4.808e+06 -0.10306 -0.28653 0 4.808e+06 -0.1319 -0.2831 0 4.808e+06 -0.18716 -0.20571 0 4.808e+06 -0.18369 -0.23729 0 4.808e+06</span>

人，都有不能称心如意的时候，都有愿望落空的窘迫，