【Python - pcl】点云可视化及属性设置

SetPointCloudRenderingProperties

设置点云的颜色、大小、等属性
说明文档中是这样写的：

SetPointCloudRenderingProperties(...)
PCLVisualizering.SetPointCloudRenderingProperties(self, int propType, int propValue, propName=b'cloud')

例子

import pcl 
import pcl.pcl_visualization as viewer  #可视化库

cloud0 = pcl.load("xxx.pcd")
vs=pcl.pcl_visualization.PCLVisualizering
vss0=pcl.pcl_visualization.PCLVisualizering() #初始化一个对象

visualcolor0 = pcl.pcl_visualization.PointCloudColorHandleringCustom(cloud0, 255, 255, 255)# 设置颜色
vs.AddPointCloud_ColorHandler(vss0,cloud0,visualcolor0,id=b'cloud0',viewport=0)# 添加点云及标签
vss0.SetPointCloudRenderingProperties(viewer.PCLVISUALIZER_POINT_SIZE, 5, b'cloud0')#设置点的大小

v = True
while not vs.WasStopped(vss1):
    vs.Spin(vss1)

其他可以设置的属性及默认值

PCLVISUALIZER_COLOR = 4
PCLVISUALIZER_FONT_SIZE = 3
PCLVISUALIZER_IMMEDIATE_RENDERING = 6
PCLVISUALIZER_LINE_WIDTH = 2
PCLVISUALIZER_OPACITY = 1 #透明度
PCLVISUALIZER_POINT_SIZE = 0
PCLVISUALIZER_REPRESENTATION = 5
PCLVISUALIZER_REPRESENTATION_POINTS = 0
PCLVISUALIZER_REPRESENTATION_SURFACE = 2
PCLVISUALIZER_REPRESENTATION_WIREFRAME = 1