在PCLVisualizer中添加坐标轴和图片和颜色表

继承PCL可视化类，实现坐标轴、PNG图片、颜色表的显示

pcl::visualization::PCLVisualizer是pcl中的可视化类，支持点云显示，点云拾取，点云框选等，但是无法添加图片和颜色表。通过继承PCLVisualizer类可以灵活添加坐标轴、图片和颜色表。

参考了pcl源码之后实现了上面几个功能，效果如下。

左下角添加了坐标轴，其位置通过参数给出，固定不可移动
右上角添加了一个PNG图片显示
右下角添加了一个颜色条

实现代码

main.cpp

#include <vtkRenderWindow.h>
#include <vtkPNGReader.h>
#include <vtkImageData.h>
#include <vtkLogoRepresentation.h>
#include <vtkLogoWidget.h>
#include <vtkAxesActor.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkScalarBarWidget.h>
#include <vtkScalarBarActor.h>
#include <vtkScalarBarRepresentation.h>
#include <vtkColorTransferFunction.h>#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_color_handlers.h>using namespace std;/*继承了PCL的可视化类 pcl::visualization::PCLVisualizer，实现坐标轴/LOGO图片/颜色表的显示*/
class My_View :public pcl::visualization::PCLVisualizer
{public:My_View(string name, bool initIterator) :pcl::visualization::PCLVisualizer(name, initIterator){;}/** \brief Adds a widget which shows an Logo image display*  \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window*  \param[in] name - imagefilename*  \param[in] x - x-position*  \param[in] y - y-position*  \param[in] x_wide - x-scalar*  \param[in] y_wide - y-scalar*  \param[in] opaticy - opaticy*/void addLogoWidgetToview(vtkRenderWindowInteractor* interactor, const std::string &name, double &x, double &y, double &x_wide, double &y_wide, double &opaticy);/** \brief Adds a widget which shows an vtkScalarBarWidget*  \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window*  \param[in] lut - lookuptable*  \param[in] x - x-position*  \param[in] y - y-position*  \param[in] x_wide - x-scalar*  \param[in] y_wide - y-scalar*/void addScalarBarWidgetToView(vtkRenderWindowInteractor* interactor, vtkLookupTable* lut, double &x, double &y, double &x_wide, double &y_wide);vtkSmartPointer<vtkScalarBarWidget> getScalarBarWidgetMember();/** \brief Adds a widget which shows an interactive axes display for orientation*  \param[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window*  \param[in] x - x-position*  \param[in] y - y-position*  \param[in] x_wide - x-scalar*  \param[in] y_wide - y-scalar*/void addOrientationMarkerWidgetAxesToview(vtkRenderWindowInteractor* interactor, double x, double y, double x_wide, double y_wide);private:/** \brief Internal pointer to widget which contains a logo_Widget_ */vtkSmartPointer<vtkLogoWidget> logo_Widget_member_;/** \brief Internal pointer to widget which contains a scalarbar_Widget_ */vtkSmartPointer<vtkScalarBarWidget> scalarbar_Widget_member_;/** \brief Internal pointer to widget which contains a set of axes */vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_member_;};vtkSmartPointer<vtkScalarBarWidget> My_View::getScalarBarWidgetMember()
{return scalarbar_Widget_member_;
}void My_View::addLogoWidgetToview(vtkRenderWindowInteractor* interactor, const std::string &name, double &x, double &y, double &x_wide, double &y_wide, double &opaticy)
{if (!logo_Widget_member_){vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New();reader->SetFileName(name.c_str());/*no multiple coding format*/reader->Update();vtkSmartPointer<vtkLogoRepresentation> logoRepresentation = vtkSmartPointer<vtkLogoRepresentation>::New();logoRepresentation->SetImage(reader->GetOutput());logoRepresentation->SetPosition(x, y);logoRepresentation->SetPosition2(x_wide, y_wide);/*0.12, 0.05*/logoRepresentation->GetImageProperty()->SetOpacity(opaticy);/*0.9*/logoRepresentation->SetShowBorderToOff();/*no edgeline*/logo_Widget_member_ = vtkSmartPointer<vtkLogoWidget>::New();logo_Widget_member_->SetInteractor(interactor);logo_Widget_member_->SetRepresentation(logoRepresentation);logo_Widget_member_->SetEnabled(true);/*enable show*/logo_Widget_member_->ProcessEventsOff();/*disable move*/}else{logo_Widget_member_->SetEnabled(true);pcl::console::print_warn(stderr, "LogoWidget Widget already exists, just enabling it");}
}void My_View::addScalarBarWidgetToView(vtkRenderWindowInteractor* interactor, vtkLookupTable* lut, double &x, double &y, double &x_wide, double &y_wide)
{if (!scalarbar_Widget_member_){/*Scalarbar Actor*/vtkSmartPointer< vtkScalarBarActor > scalarBarActor = vtkSmartPointer< vtkScalarBarActor >::New();scalarBarActor->SetOrientationToHorizontal();scalarBarActor->SetLookupTable(lut);/*ScalarBar Widget*/scalarbar_Widget_member_ = vtkSmartPointer< vtkScalarBarWidget >::New();scalarbar_Widget_member_->SetInteractor(interactor);scalarbar_Widget_member_->SetScalarBarActor(scalarBarActor);//scalarBarWidget->setscalarbar_Widget_member_->On();}else{/*Scalarbar Actor*/vtkSmartPointer< vtkScalarBarActor > scalarBarActor = vtkSmartPointer< vtkScalarBarActor >::New();scalarBarActor->SetOrientationToHorizontal();scalarBarActor->SetLookupTable(lut);/*ScalarBar Widget*///scalarbar_Widget_.scalarbar_Widget_member_ = vtkSmartPointer< vtkScalarBarWidget >::New();scalarbar_Widget_member_->SetInteractor(interactor);scalarbar_Widget_member_->SetScalarBarActor(scalarBarActor);//scalarBarWidget->setscalarbar_Widget_member_->On();}
}void My_View::addOrientationMarkerWidgetAxesToview(vtkRenderWindowInteractor* interactor, double x, double y, double x_wide, double y_wide)
{if (!axes_widget_member_){vtkSmartPointer<vtkAxesActor> axes = vtkSmartPointer<vtkAxesActor>::New();axes_widget_member_ = vtkSmartPointer<vtkOrientationMarkerWidget>::New();axes_widget_member_->SetOutlineColor(0.9300, 0.5700, 0.1300);axes_widget_member_->SetOrientationMarker(axes);axes_widget_member_->SetInteractor(interactor);axes_widget_member_->SetViewport(x, y, x_wide, y_wide);axes_widget_member_->SetEnabled(true);axes_widget_member_->InteractiveOn();axes_widget_member_->InteractiveOff();}else{axes_widget_member_->SetEnabled(true);pcl::console::print_warn(stderr, "Orientation Widget Axes already exists, just enabling it");}
}int main(int argc, char *argv[])
{/*初始化视图*/boost::shared_ptr<My_View> viewer_;viewer_.reset(new My_View("viewer", true));/*添加Logo图片到视图左上角*/std::string logofilename = "png.png";double x = 0.80, y = 0.80/*0.93*/, x_wide = 0.2/*0.12*/, y_wide = 0.1/*0.05*/, opacity = 0.9;viewer_->addLogoWidgetToview(viewer_->getRenderWindow()->GetInteractor(), logofilename, x, y, x_wide, y_wide, opacity);/*添加坐标轴到视图的左下角*/viewer_->addOrientationMarkerWidgetAxesToview(viewer_->getRenderWindow()->GetInteractor(), 0.0, 0.0, 0.2, 0.2);/*添加颜色列表到视图右下角*/vtkSmartPointer<vtkColorTransferFunction> color = vtkSmartPointer<vtkColorTransferFunction>::New();color->AddRGBPoint(0.0, 1.0,0.0,0.0);/*red*/color->AddRGBPoint(0.5, 0.0, 1.0, 0.0);/*green*/color->AddRGBPoint(1.0, 0.0, 0.0, 1.0);/*blue*/color->SetColorSpaceToRGB();color->SetNanColor(1.0, 1.0, 0);vtkSmartPointer< vtkLookupTable > lut = vtkSmartPointer< vtkLookupTable >::New();lut->SetNumberOfColors(64);for (int i = 0; i < 64; i++){double d[3] = { 0.0 };double *pd = color->GetColor(i / 64.0);d[0] = pd[0]; d[1] = pd[1]; d[2] = pd[2];lut->SetTableValue(i, d[0], d[1], d[2]);}lut->SetTableRange(0.0, 1.0);lut->Build();double x1 = 0.9, y1 = 0.0,/*0.93*/ x_wide1 = 0.08/*0.12*/, y_wide1 = 0.35;/*0.05*/int maxsize[2] = { 50, 100 };int minsize[2] = { 50, 100 };vtkSmartPointer<vtkScalarBarRepresentation > scalarBarRep = vtkSmartPointer<vtkScalarBarRepresentation >::New();scalarBarRep->SetPosition(x1, y1);/*在pcl visual中的位置*/scalarBarRep->SetPosition2(x_wide1, y_wide1);/*0.2, 0.2等效于上面的两行代码*///scalarBarRep->SetMaximumSize(20, 50);/*最大*/    //scalarBarRep->SetMinimumSize(minsize);/*最小*/scalarBarRep->SetShowBorderToOn();/*Invalid*/scalarBarRep->SetShowBorder(true); //scalarBarRep->SetShowBorderToActive();//scalarBarRep->SetShowHorizontalBorder(true); //scalarBarRep->SetShowVerticalBorder(true);viewer_->addScalarBarWidgetToView(viewer_->getRenderWindow()->GetInteractor(), lut, x1, y1, x_wide1, y_wide1);/*添加Widget到View*/scalarBarRep->SetScalarBarActor(viewer_->getScalarBarWidgetMember()->GetScalarBarActor());/*设置代理对象为Widget*/viewer_->getScalarBarWidgetMember()->SetRepresentation(scalarBarRep);/*为Widget设置代理*/viewer_->getScalarBarWidgetMember()->GetScalarBarActor()->SetLabelFormat("%5.2f");/*尺度的刻度值*/viewer_->getScalarBarWidgetMember()->GetScalarBarActor()->SetMaximumWidthInPixels(70);viewer_->spin();}

CMakeLists

cmake_minimum_required (VERSION 2.6 FATAL_ERROR)project(pcl_visualization_test)
find_package (VTK REQUIRED)
find_package (PCL 1.8.1 REQUIRED)include_directories(${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
link_directories    (${PCL_LIBRARY_DIRS})
add_definitions     (${PCL_DEFINITIONS})ADD_DEFINITIONS(-D _XKEYCHECK_H)
ADD_EXECUTABLE  (Demo main.cpp)TARGET_LINK_LIBRARIES (Demo ${PCL_LIBRARIES} ${VTK_LIBRARIES})

参考资料

VTK的数据结构

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在PCLVisualizer中添加坐标轴和图片和颜色表

继承PCL可视化类，实现坐标轴、PNG图片、颜色表的显示

参考了pcl源码之后实现了上面几个功能，效果如下。

实现代码

参考资料

在PCLVisualizer中添加坐标轴和图片和颜色表相关推荐

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