ros vtk点云可视化

在ROS中，可以使用rviz进行点云的可视化，也可以使用VTK库进行点云的可视化。

以下是使用VTK库进行点云可视化的示例代码：

#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkSmartPointer.h>
#include <vtkPolyData.h>
#include <vtkPoints.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

void pointCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
{
    // Convert ROS point cloud message to pcl point cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*cloud_msg, *pcl_cloud);

    // Convert pcl point cloud to vtk point cloud
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    for (size_t i = 0; i < pcl_cloud->size(); ++i)
    {
        pcl::PointXYZ& pcl_point = pcl_cloud->points[i];
        points->InsertNextPoint(pcl_point.x, pcl_point.y, pcl_point.z);
    }

    // Create vtk poly data
    vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New();
    poly_data->SetPoints(points);

    // Create vtk vertex glyph filter
    vtkSmartPointer<vtkVertexGlyphFilter> vertex_filter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
    vertex_filter->SetInputData(poly_data);
    vertex_filter->Update();

    // Create vtk poly data mapper
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(vertex_filter->GetOutput());

    // Create vtk actor
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);

    // Create vtk renderer
    vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();
    renderer->AddActor(actor);

    // Create vtk render window
    vtkSmartPointer<vtkRenderWindow> render_window = vtkSmartPointer<vtkRenderWindow>::New();
    render_window->AddRenderer(renderer);

    // Create vtk render window interactor
    vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New();
    interactor->SetRenderWindow(render_window);

    // Start interaction
    interactor->Start();
}

int main(int argc, char** argv)
{
    // Initialize ROS
    ros::init(argc, argv, "point_cloud_visualizer");
    ros::NodeHandle nh;

    // Subscribe to point cloud topic
    ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2>("/point_cloud_topic", 1, pointCloudCallback);

    // Spin ROS
    ros::spin();

    return 0;
}

这个代码使用了VTK库将ROS中的点云消息转换为vtk poly data，并使用vtk进行可视化。在这个代码中，我们订阅了一个名为“/point_cloud_topic”的ROS话题，因此请根据您的实际情况修改此话题名称。