시각화툴
시각화 툴
ROS & Rviz
$ roscore
$ rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 world_frame kinect_link
$ rosrun pcl_ros pcd_to_pointcloud table.pcd 0.1 _frame_id:=kinect_link cloud_pcd:=kinect/depth_registered/points
$ rosrun rviz rviz
Cloud Compare
$ sudo snap install cloudcompare
$ sudo snap refresh --edge cloudcompare
$ cloudcompare.CloudCompare
- 플러그인 : https://github.com/CloudCompare/CloudCompare/issues/646
- 플러그인 so파일을
/snap/cloudcompare/current/lib/cloudcompare/plugins- 프로그램 실행 - help - about plugins
- https://github.com/CloudCompare/CloudCompare/issues/536
Paraview
# apt 설치
apt-get install paraview
# 코드 설치
# paraview 다운로드 : https://www.paraview.org/download/
# 권장 버젼 : ParaView v4.1.0+, PCL v1.5.1+
$ tar xvfz ParaView-3.14.1-Source.tar.gz
$ cd /home/ParaView-3.12.0
$ mkdir build
$ cd build
$ ccmake .. #OR $cmake-gui Make sure that BUILD_SHARED_LIBS is set to ON Configure and generate files
$ make
# 실행 파일 : /home/ParaView-3.12.0/build/bin
- ParaView/PCL Plugin/Download And Build Instructions : ParaView 3.14.1 + PCL Plugin v1.0
- ROS Manual: Paraview 3.12 + PCL Plugin 1.0 (PCL 1.5)
- A plugin to enable PCL functionality in ParaView: Paraview 4.1 + PCL Plugin v1.1 (PCL = 1.5.1)
- ROS Manual: Paraview 3.12 + PCL Plugin 1.0 (PCL 1.5)
Velodyne 3D-Lidar Visualization Program
PCL-Cpp 제공 툴
설치
$ sudo apt install pcl-tools
$ pcl_viewer [파일명.pcd]
The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.
Syntax is: pcl_viewer <file_name 1..N>.<pcd or vtk> <options>
where options are:
-bc r,g,b = background color
-fc r,g,b = foreground color
-ps X = point size (1..64)
-opaque X = rendered point cloud opacity (0..1)
-shading X = rendered surface shading ('flat' (default), 'gouraud', 'phong')
-position x,y,z = absolute point cloud position in metres
-orientation r,p,y = absolute point cloud orientation (roll, pitch, yaw) in radians
-ax n = enable on-screen display of XYZ axes and scale them to n
-ax_pos X,Y,Z = if axes are enabled, set their X,Y,Z position in space (default 0,0,0)
-cam (*) = use given camera settings as initial view
(*) [Clipping Range / Focal Point / Position / ViewUp / Distance / Field of View Y / Window Size / Window Pos] or use a <filename.cam> that contains the same information.
-multiview 0/1 = enable/disable auto-multi viewport rendering (default disabled)
-normals 0/X = disable/enable the display of every Xth point's surface normal as lines (default disabled)
-normals_scale X = resize the normal unit vector size to X (default 0.02)
-pc 0/X = disable/enable the display of every Xth point's principal curvatures as lines (default disabled)
-pc_scale X = resize the principal curvatures vectors size to X (default 0.02)
-immediate_rendering 0/1 = use immediate mode rendering to draw the data (default: disabled)
Note: the use of immediate rendering will enable the visualization of larger datasets at the expense of extra RAM.
See http://en.wikipedia.org/wiki/Immediate_mode for more information.
-vbo_rendering 0/1 = use OpenGL 1.4+ Vertex Buffer Objects for rendering (default: disabled)
Note: the use of VBOs will enable the visualization of larger datasets at the expense of extra RAM.
See http://en.wikipedia.org/wiki/Vertex_Buffer_Object for more information.
-use_point_picking = enable the usage of picking points on screen (default disabled)
-optimal_label_colors = maps existing labels to the optimal sequential glasbey colors, label_ids will not be mapped to fixed colors (default disabled)
(Note: for multiple .pcd files, provide multiple -{fc,ps,opaque} parameters; they will be automatically assigned to the right file)
Usage example:
pcl_viewer -multiview 1 {AAA.pcd} {BBB.pcd} {CCC.pcd}
The above will load the partial_cup_model.pcd file 3 times, and will create a multi-viewport rendering (-multiview 1).