pcl c++ fromHandlersToScreen函数怎么将color_handler转换到vtk颜色数据的
时间: 2023-07-15 17:14:42 浏览: 173
在PCL中, `pcl::visualization::PointCloudColorHandler` 类是用于处理点云颜色信息的。其中,`pcl::visualization::PointCloudColorHandlerCustom`、`pcl::visualization::PointCloudColorHandlerRGBField`和`pcl::visualization::PointCloudColorHandlerGenericField`分别用于处理自定义颜色、RGB颜色和通用颜色(例如,强度、曲率等)。
在使用 `fromHandlersToScreen` 函数将颜色处理器转换为 VTK 颜色数据时,可以采用以下步骤:
1. 确定点云中点的数量。
```
size_t num_points = cloud->size();
```
2. 创建一个 `vtkUnsignedCharArray` 对象来存储颜色数据。
```
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetName("Colors");
colors->SetNumberOfComponents(3);
colors->SetNumberOfTuples(num_points);
```
3. 使用 `pcl::visualization::fromHandlersToRGB` 函数将颜色处理器转换为 RGB 颜色数据。
```
std::vector<unsigned char> color_vec;
color_handler->getColor(index, color_vec);
Eigen::Vector3i color = pcl::visualization::fromHandlersToRGB(color_vec);
```
4. 将 RGB 颜色数据存储到 `vtkUnsignedCharArray` 中。
```
colors->SetTuple3(index, color(0), color(1), color(2));
```
完整的代码示例:
```
pcl::PointCloud<pcl::PointXYZ> cloud;
// create a color handler for the cloud
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handler(cloud_ptr, 255, 0, 0);
// determine the number of points in the cloud
size_t num_points = cloud->size();
// create a vtkUnsignedCharArray object to store the color data
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetName("Colors");
colors->SetNumberOfComponents(3);
colors->SetNumberOfTuples(num_points);
// loop through each point in the cloud and set the color
for (size_t index = 0; index < num_points; index++)
{
// convert the color handler to RGB color data
std::vector<unsigned char> color_vec;
color_handler->getColor(index, color_vec);
Eigen::Vector3i color = pcl::visualization::fromHandlersToRGB(color_vec);
// store the RGB color data in the vtkUnsignedCharArray
colors->SetTuple3(index, color(0), color(1), color(2));
}
```
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