Viewer_Results.h

#pragma once
#include "plane_set.h"
#include <random>
#include<pcl/visualization/pcl_plotter.h>

pcl::RGB generateRandomColor()
{
	std::random_device rd;
	std::mt19937 gen(rd());
	std::uniform_int_distribution<> dis(0, 255);

	pcl::RGB color;
	color.r = static_cast<uint8_t>(dis(gen));
	color.g = static_cast<uint8_t>(dis(gen));
	color.b = static_cast<uint8_t>(dis(gen));

	return color;
}

void LoadClouds(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud) {
	//加载点云
	if (pcl::io::loadPCDFile<pcl::PointXYZRGB>("acmm_model.pcd", *cloud) == -1) //* load the file
	{
		PCL_ERROR("Couldn't read file test_pcd.pcd \n");
		exit(-1);
	}
	std::cout << "Loaded "
		<< cloud->width * cloud->height
		<< " data points from test_pcd.pcd with the following fields: "
		<< std::endl;
}

void Viewer_Results_clouds(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, plane_set PlaneSet, cylinder_set CylinderSet) {
	//以不同颜色输出点云
	vector<plane> cloud_plane_S = PlaneSet.getPlaneSet();
	vector<cylinder> cloud_cylinder_S = CylinderSet.getCylinderSet();

	//输出原始点云
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("��Ͻ��"));
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, "cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 1, 1, "cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

	cout << "平面个数为：" << PlaneSet.getPlaneNumber() << endl;
	cout << "圆柱个数为：" << CylinderSet.getCylinderNumber() << endl;

	//输出不同颜色的平面
	for (int i = 0; i < PlaneSet.getPlaneNumber(); i++) {
		//生成随机颜色
		pcl::RGB color1 = generateRandomColor();
		cout << "输出第" << i<<"个平面的点云" << endl;

		for (auto& point : cloud_plane_S[i].cloud_plane.points)
		{
			point.r = color1.r;
			point.g = color1.g;
			point.b = color1.b;
		}
		viewer->addPointCloud<pcl::PointXYZRGB>(cloud_plane_S[i].cloud_plane.makeShared(), std::to_string(i));
		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, std::to_string(i));
	}

	//输出不同颜色的圆柱
	for (int i = 0; i < CylinderSet.getCylinderNumber(); i++) {
		pcl::RGB color1 = generateRandomColor();
		cout << "输出第" << i << "个圆柱的点云" << endl;

		for (auto& point : cloud_cylinder_S[i].cloud_cylinder.points)
		{
			point.r = color1.r;
			point.g = color1.g;
			point.b = color1.b;
		}
		viewer->addPointCloud<pcl::PointXYZRGB>(cloud_cylinder_S[i].cloud_cylinder.makeShared(), std::to_string(i+10));
		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, std::to_string(i+10));
	}
	
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
	}
}