pcl qt c++ 点云可视化窗口刷新
时间: 2023-07-13 17:09:37 浏览: 293
pcl读取点云并显示在嵌入窗口picture control中c++源码
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点云可视化窗口的刷新通常需要在界面上触发一个事件或者定时器来进行刷新,具体实现可以参考以下步骤:
1. 在Qt中创建一个QVTKWidget控件用于显示点云,或者使用其他的点云可视化库。
2. 将点云数据加载到PointCloud对象中,例如:
```
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 加载点云数据
pcl::io::loadPCDFile("cloud.pcd", *cloud);
```
3. 将PointCloud对象转换成VTK的PolyData类型,并将其设置到QVTKWidget控件中,例如:
```
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handler(cloud, 255, 255, 255); // 设置点云颜色
pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PointXYZ> geometry_handler(cloud); // 获取点云几何信息
pcl::visualization::PCLVisualizer vis;
vis.addPointCloud<pcl::PointXYZ>(cloud, color_handler, geometry_handler);
vis.getPickedPoint(); // 鼠标选点
pcl::visualization::PCLVisualizerInteractorStyle style(&vis);
vis.registerKeyboardCallback(&keyboardEventOccurred, (void*)(&vis));
pcl::visualization::VTKPCLVisualizer::Ptr pclVis(new pcl::visualization::VTKPCLVisualizer("viewer", false));
pclVis->setBackgroundColor(0, 0, 0);
pclVis->addPointCloud<pcl::PointXYZ>(cloud, color_handler, geometry_handler);
pclVis->addCoordinateSystem(1.0);
pclVis->initCameraParameters();
pclVis->setCameraPosition(0, 0, 0, 0, 0, -1, 0, 1, 0);
pclVis->setCameraClipDistances(-5.0, 5.0);
pclVis->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3);
pclVis->registerKeyboardCallback(&keyboardEventOccurred, (void*)(&vis));
ui->qvtkWidget->SetRenderWindow(pclVis->getRenderWindow());
```
4. 在界面上添加一个按钮或者定时器,当触发事件时,重新加载点云数据并更新控件,例如:
```
void MainWindow::on_refreshButton_clicked()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 加载点云数据
pcl::io::loadPCDFile("cloud.pcd", *cloud);
// 将PointCloud对象转换成VTK的PolyData类型,并将其设置到QVTKWidget控件中
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handler(cloud, 255, 255, 255);
pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PointXYZ> geometry_handler(cloud);
pcl::visualization::PCLVisualizer vis;
vis.addPointCloud<pcl::PointXYZ>(cloud, color_handler, geometry_handler);
vis.getPickedPoint();
pcl::visualization::PCLVisualizerInteractorStyle style(&vis);
vis.registerKeyboardCallback(&keyboardEventOccurred, (void*)(&vis));
pcl::visualization::VTKPCLVisualizer::Ptr pclVis(new pcl::visualization::VTKPCLVisualizer("viewer", false));
pclVis->setBackgroundColor(0, 0, 0);
pclVis->addPointCloud<pcl::PointXYZ>(cloud, color_handler, geometry_handler);
pclVis->addCoordinateSystem(1.0);
pclVis->initCameraParameters();
pclVis->setCameraPosition(0, 0, 0, 0, 0, -1, 0, 1, 0);
pclVis->setCameraClipDistances(-5.0, 5.0);
pclVis->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3);
pclVis->registerKeyboardCallback(&keyboardEventOccurred, (void*)(&vis));
ui->qvtkWidget->SetRenderWindow(pclVis->getRenderWindow());
}
void MainWindow::on_refreshTimer_timeout()
{
// 每隔一段时间重新加载点云数据并更新控件
on_refreshButton_clicked();
}
```
以上就是基于Qt的点云可视化窗口刷新的具体实现方法。
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