如何可视化“XYZL”点云？

Question

我有一个类似这样的“XYZL”点云：

pcl::PointCloud<pcl::PointXYZL>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZL>);

我希望能够将其可视化。使用可视化“XYZ”或“XYZRGB”点云的命令无法将其可视化。

现在，我想知道如何可视化这种类型的点云？

- Taraneh

Answer 1

一个PointXYZL可以被视为一个PointXYZI云。只需要在两者之间进行转换，然后...

void displayCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr cloud, const std::string& window_name)
{
    if (cloud->size() < 1)
    {
        std::cout << window_name << " display failure. Cloud contains no points\n";
        return;
    }

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer(window_name));
    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> point_cloud_color_handler(cloud, "intensity");

    viewer->addPointCloud< pcl::PointXYZI >(cloud, point_cloud_color_handler, "id");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "id");

    viewer->registerKeyboardCallback(keyboardEventOccurred, (void*)viewer.get());

    while (!viewer->wasStopped() && !close_window){
        viewer->spinOnce(50);
    }
    close_window = false;
    viewer->close();
}

- brad