如何在PCL(带有Qt)中可视化TOF传感器数据序列? [英] How to visualize a sequence of TOF-Sensor data in PCL (with Qt)?

问题描述

我有这个TOF传感器，我想将传感器的数据可视化为Qt中的点云.我将数据转换为pcl::PointCloud，现在我想将其可视化.

I've this TOF-sensor and I want to visualize the sensor's data as a point-cloud in Qt. I converted the data into a pcl::PointCloud and now I want to visualize it.

每创建一个传感器，API就会发出一幅图像.然后将其发送到QVTKWidget进行可视化.然后，我尝试使用此代码段(从此处获得):

The API of the sensor would emit a picture whenever one was created. And I would send it to the QVTKWidget to visualize it. And I tried it with this snippet of code (which I got from here):

pcl::visualization::PCLVisualizer pvis ("test_vis", false); 
// 'false' prevents PCLVisualizer's own window to pop up

pvis.addPointCloud<pcl::PointXYZ>(pc); // pc is my point cloud

vtkSmartPointer<vtkRenderWindow> renderWindow = pvis.getRenderWindow();
widget.SetRenderWindow(renderWindow);

但是，这似乎只是为了可视化一个稳定的点云，而不是点云的变化序列.

But it seems like this is only meant to visualize one steady point-cloud and not a changing sequence of point-clouds.

问题:每当我的传感器发出新图片时，有什么方法可以更新cloud_xyz吗?

Question: Is there any way to update the cloud_xyz whenever my sensor emits a new picture?

推荐答案

好的，经过一番尝试，这是我的解决方案:

OK, after some trying, here is my solution:

继承自QVTKWidget:

pcl::visualization::PCLVisualizer vis ("vis", false); 

VTKPointCloudWidget::VTKPointCloudWidget(QWidget *parent) : QVTKWidget(parent)
{
   this->resize(500, 500);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pc (new pcl::PointCloud<pcl::PointXYZ>);

   vis.addPointCloud<pcl::PointXYZ>(pc);
   vtkSmartPointer<vtkRenderWindow> renderWindow = vis.getRenderWindow();
   this->SetRenderWindow(renderWindow);
   this->show();
}

，每当发出新的传感器图像时，它就会发送到:

and whenever a new sensor image is emitted, it is sent to:

void VTKPointCloudWidget::showPointCloud(SensorPicture pic)
{   
   // converts the sensor image to a point cloud
   pcl::PointCloud<pcl::PointXYZ>::Ptr pc = cvtSP2PC(pic);

   pc->width = pic.width;
   pc->height = pic.height;

   vis.updatePointCloud<pcl::PointXYZ>(pc); 

   this->update();
}

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