> For the complete documentation index, see [llms.txt](https://pcl.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://pcl.gitbook.io/tutorial/appendix/visualization-tools.md). # 시각화툴 ## 시각화 툴 ### ROS & Rviz ```python $ 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 > [홈페이지](http://www.danielgm.net/cc/), [블로그](http://www.pointcloud.jp/blog_n23/) ```python $ sudo snap install cloudcompare $ sudo snap refresh --edge cloudcompare $ cloudcompare.CloudCompare ``` * 플러그인 : * 플러그인 so파일을 `/snap/cloudcompare/current/lib/cloudcompare/plugins` * 프로그램 실행 - help - about plugins * ### Paraview > [홈페이지](https://www.paraview.org/), [PCL Plugin](https://www.paraview.org/Wiki/ParaView/PCL_Plugin), [YouTube데모](https://www.youtube.com/watch?v=BZBQXcBvHW0) ``` # 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](https://www.paraview.org/Wiki/ParaView/PCL_Plugin/Download_And_Build_Instructions) : ParaView 3.14.1 + PCL Plugin v1.0 * [ROS Manual](http://wiki.ros.org/Industrial/Tutorials/PCLParaview): Paraview 3.12 + PCL Plugin 1.0 (PCL 1.5) * A plugin to enable PCL functionality in ParaView: [Paraview 4.1](https://www.paraview.org/paraview-downloads/download.php?submit=Download\&version=v4.1\&type=binary\&os=Linux\&downloadFile=ParaView-4.1.0-Linux-64bit-glibc-2.3.6.tar.gz) + [PCL Plugin v1.1](https://github.com/Kitware/PCLPlugin) (PCL = 1.5.1) * [ROS Manual](http://wiki.ros.org/Industrial/Tutorials/PCLParaview): Paraview 3.12 + PCL Plugin 1.0 (PCL 1.5) ### [Velodyne 3D-Lidar Visualization Program](https://github.com/windowsub0406/3D-Lidar-visualization-VLP-16) ![](https://github.com/windowsub0406/3D-Lidar-visualization-VLP-16/raw/master/images/velodyne.gif) ## PCL-Cpp 제공 툴 > [PCLVisualizer](http://pointclouds.org/documentation/tutorials/pcl_visualizer.php), [PCL Visualization overview](http://pointclouds.org/documentation/overview/visualization.php) 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 . 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 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). * [point cloud visualization with jupyter/pcl-python/and potree](https://www.youtube.com/watch?v=s2IvpYvB7Ew): YouTube데모 * : medical images * *