pcl-设置多线段宽度和颜色

显示点云有使用vtk的，有使用 ros 中riz ?库的，使用pcl显示点云数据比较方便，但是对于一些模型形状只能固定特定的效果，比如说直线段，只能绘制点到点两点之间的线段。但是项目需要绘制点1到点2到...点n多条线段的连接，并且绘制设置线段宽度。

步骤：

1、把

 vtkRenderWindowInteractorFix.cpp

 vtkRenderWindowInteractorFix.h

 pcl_visualizer.h

 pcl_visualizer.cpp

 shapes.h

shapes.cpp
这几个文件加入到工程P里，修改其依赖的头文件路径；屏蔽之前项目中使用的这三个头文件；添加编译这三个文件所依赖的vtk库。
2、代码修改

/*****自定义多点连接线段，可以设置线段宽度*****/

pcl_visualizer.cpp

/*****自定义多点连接线段，可以设置线段宽度*****/

bool pcl::visualization::PCLVisualizer::addMultyLine(vtkSmartPointer<vtkPoints> points,float width,double r,double g,double b,const std::string &id, int viewport)

{

    // Check to see if this ID entry already exists (has it been already added to the visualizer?)

    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);

    if (am_it != shape_actor_map_->end ())

    {

      pcl::console::print_warn (stderr, "[addMultyLine] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());

      return (false);

    }

    if (points->GetNumberOfPoints() < )

    {

      PCL_WARN ("[addMultyLine] point size less 2.\n");

      return (false);

    }

    vtkSmartPointer<vtkDataSet> data = createLine (points);

    // Create an Actor

    vtkSmartPointer<vtkLODActor> actor;

    createActorFromVTKDataSet (data, actor);

    actor->GetProperty ()->SetRepresentationToSurface ();

    actor->GetProperty()->SetLineWidth(width);

    actor->GetProperty()->SetColor(r,g,b);

    addActorToRenderer (actor, viewport);

    // Save the pointer/ID pair to the global actor map

    (*shape_actor_map_)[id] = actor;

    return (true);

}

shape.cpp

vtkSmartPointer<vtkDataSet>

pcl::visualization::createLine (vtkSmartPointer<vtkPoints> points)

{

    vtkSmartPointer<vtkLineSource> lineSource = vtkSmartPointer<vtkLineSource>::New();

    lineSource->SetPoints(points);

    lineSource->Update();

    return (lineSource->GetOutput());

}

例子

   vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();

   double origin[] = {0.0, 0.0, 0.0};

   double p0[] = {1.0, 0.0, 0.0};

   double p1[] = {2.0, 0.0, 0.0};

   double p2[] = {3.0, 0.0, 0.0};

   double p3[] = {4.0, 0.0, 0.0};

   points->InsertNextPoint(origin);

   points->InsertNextPoint(p0);

   points->InsertNextPoint(p1);

   points->InsertNextPoint(p2);

   points->InsertNextPoint(p3);

   m_viewerOrg->addMultyLine(points,,,,,"multiline",);

效果

巴特西

pcl-设置多线段宽度和颜色

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