[PCL] PCLVisualizer可视化的应用

通常情况下 PCL的可视化 是非常方便. 但是

#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/visualization/cloud_viewer.h>

#include<iostream>
#include<thread>

int user_data;
 
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(1.0, 0.5, 1.0);   //设置背景颜色
}
 
int main() {

  /// # windows 下 随意
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	char strfilepath[256] = "../rabbit.pcd";
	if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
		std::cout << "error input!" << std::endl;
		return -1;
	}

	cout << cloud->points.size() << endl;
	pcl::visualization::CloudViewer viewer("Cloud Viewer");   //创建viewer对象

	viewer.showCloud(cloud);
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	system("pause");
	return 0;
}

这样的代码 在Windows 上运行是没有问题的,但是在 mac. 就不行了.因为 mac 严格禁止在子线程里面进行任何UI相关的操作

35947
*** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'NSWindow should only be instantiated on the main thread!'
*** First throw call stack:
(
	0   CoreFoundation                      0x000000018baeeccc __exceptionPreprocess + 176
	1   libobjc.A.dylib                     0x000000018b5d6788 objc_exception_throw + 60
	2   CoreFoundation                      0x000000018bb13c48 _CFBundleGetValueForInfoKey + 0
	3   AppKit                              0x000000018f2e1294 -[NSWindow _initContent:styleMask:backing:defer:contentView:] + 188
	4   AppKit                              0x000000018f2e11cc -[NSWindow initWithContentRect:styleMask:backing:defer:] + 48
	5   libvtkRenderingOpenGL2-9.3.9.3.dyli 0x000000010412e688 _ZN20vtkCocoaRenderWindow13CreateAWindowEv + 1252
	6   libvtkRenderingOpenGL2-9.3.9.3.dyli 0x000000010412ec18 _ZN20vtkCocoaRenderWindow5StartEv + 40
	7   libvtkRenderingUI-9.3.9.3.dylib     0x0000000102a11680 _ZN30vtkCocoaRenderWindowInteractor10InitializeEv + 64
	8   libpcl_visualization.1.14.0.dylib   0x000000010284cd74 _ZN3pcl13visualization13PCLVisualizer16createInteractorEv + 228
	9   libpcl_visualization.1.14.0.dylib   0x000000010284c8f0 _ZN3pcl13visualization13PCLVisualizerC2ERKNSt3__112basic_stringIcNS2_11char_traitsIcEENS2_9allocatorIcEEEEb + 440
	10  libpcl_visualization.1.14.0.dylib   0x000000010286eda4 _ZNSt3__120__shared_ptr_emplaceIN3pcl13visualization13PCLVisualizerENS_9allocatorIS3_EEEC2B7v160006IJRNS_12basic_stringIcNS_11char_traitsIcEENS4_IcEEEEbEEES5_DpOT_ + 44
	11  libpcl_visualization.1.14.0.dylib   0x000000010286ed4c _ZNSt3__115allocate_sharedB7v160006IN3pcl13visualization13PCLVisualizerENS_9allocatorIS3_EEJRNS_12basic_stringIcNS_11char_traitsIcEENS4_IcEEEEbEvEENS_10shared_ptrIT_EERKT0_DpOT1_ + 52
	12  libpcl_visualization.1.14.0.dylib   0x000000010286e9a0 _ZN3pcl13visualization11CloudViewer16CloudViewer_implclEv + 64
	13  libpcl_visualization.1.14.0.dylib   0x000000010286f00c _ZNSt3__114__thread_proxyB7v160006INS_5tupleIJNS_10unique_ptrINS_15__thread_structENS_14default_deleteIS3_EEEEMN3pcl13visualization11CloudViewer16CloudViewer_implEFvvEPSA_EEEEEPvSF_ + 72
	14  libsystem_pthread.dylib             0x000000018b99af94 _pthread_start + 136
	15  libsystem_pthread.dylib             0x000000018b995d34 thread_start + 8
)
libc++abi: terminating due to uncaught exception of type NSException

进程已结束，退出代码为 134 (interrupted by signal 6:SIGABRT)

后来才发现 PCL 里面 有关于这个的可视化操作 就是PCLVisualizer, 稍微修改一下代码

#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/visualization/cloud_viewer.h>

#include<iostream>
#include<thread>

int user_data;
 
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(1.0, 0.5, 1.0);   //设置背景颜色
}
 
int main() {
char strfilepath[256] = "../rabbit.pcd";

#if 0
  /// # windows 下 随意
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
		cout << "error input!" << endl;
		return -1;
	}

	cout << cloud->points.size() << endl;
	pcl::visualization::CloudViewer viewer("Cloud Viewer");   //创建viewer对象

	viewer.showCloud(cloud);
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	system("pause");
#else
    /// mac下仍然可以运行
    // 加载点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

    if (pcl::io::loadPCDFile<pcl::PointXYZ> (strfilepath, *cloud) == -1) {
        PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
        return (-1);
    }
    std::cout << "Loaded "
              << cloud->width * cloud->height
              << " data points from test_pcd.pcd with the following fields: "
              << std::endl;

    // 创建PCLVisualizer对象
    pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));

    // 设置背景颜色为黑色（也可以选择其他颜色）
    viewer->setBackgroundColor (0, 0, 0);

    // 添加点云数据
    viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");

    // 设置点云的渲染属性（这里我们设置点的大小为1）
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");

    // 添加坐标轴（可选）
    viewer->addCoordinateSystem (1.0);

    // 设置相机的初始位置
    viewer->initCameraParameters ();

    // 主循环
    while (!viewer->wasStopped ()) {
        viewer->spinOnce (100);  // 100毫秒刷新一次
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }
#endif

    return 0;
}

运行效果如下:

发现运行是正常的

然后就可以相关了解一下 PCLVisualizer 这个模块, 下面是PCL官方的使用

Point Cloud Library

PCL教程-PCLVisualizer可视化类的使用