Article directory
0 Preface
The pcl_plotter function of PCL is used to draw analysis diagrams for point cloud data, such as the change diagram of the Z value of a certain row or column point cloud. pcl_plotter provides a direct and simple plotting interface to visualize all types of important plots in the library such as from polynomial functions or histograms. This article records the use of the pcl_plotter function.
1. Create a function button
(1) Design the .ui file
① Design the button
②Compile.ui
(2) Modify the mainwindow.h file
//menudo2
void doActionplot1();//多项式函数绘图
void doActionplot2();//多项式有理函数绘图
void doActionplot3();//点对绘图
(3) Modify mainwindow.cpp file
①Add header file
#include<pcl/visualization/pcl_plotter.h>
②Add implementation code
//多项式函数绘图
void MainWindow::doActionplot1() {
}
//多项式有理函数绘图
void MainWindow::doActionplot2() {
}
//点对绘图
void MainWindow::doActionplot3() {
}
③Add signal slot function
connect(m_UI->actionplot1, &QAction::triggered, this, &MainWindow::doActionplot1);//多项式函数绘图
connect(m_UI->actionplot2, &QAction::triggered, this, &MainWindow::doActionplot2);//多项式有理函数绘图
connect(m_UI->actionplot3, &QAction::triggered, this, &MainWindow::doActionplot3);//点对绘图
(4) generate
2. Polynomial function drawing
(1) Code drawing
//多项式函数绘图
void MainWindow::doActionplot1() {
//定义一个plottter类
pcl::visualization::PCLPlotter * plotter = new pcl::visualization::PCLPlotter();
plotter->setShowLegend(true);//显示图例
//定义一个多项式函数
//y=0+0x+x^2，常数项为0，x的系数为0，x^2的系数为1
// 0 0 1
pcl::visualization::PCLPlotter::PolynomialFunction func(3, 0);
func[2] = 1;
//对话获取参数
int style = QInputDialog::getInt(this, QStringLiteral("绘图类型选择"), QStringLiteral("类型：0线图，1点图，2条形图，3实体图"), 0, 0, 3);
switch (style) {
case 0:
//将多项式添加进plottter中
//X 轴的区间范围：[-10, 10] as the range in X axis and "y = x^2" as title
plotter->addPlotData(func, -10, 10, "y=x^2", 100, vtkChart::LINE);//绘线图
plotter->setTitle("LINE");
break;
case 1:
plotter->addPlotData(func, -10, 10, "y=x^2", 100, vtkChart::POINTS);//绘点图
plotter->setTitle("POINTS");
break;
case 2:
plotter->addPlotData(func, -10, 10, "y=x^2", 100, vtkChart::BAR);//绘条形图
plotter->setTitle("BAR");
break;
case 3:
plotter->addPlotData(func, -10, 10, "y=x^2", 100, vtkChart::STACKED);//绘实体图
plotter->setTitle("STACKED");
break;
}
//显示图表，完成
plotter->plot();
}
(2) Drawing results
① Line graph
② point map
③ Bar graph
④ Entity diagram
3. Polynomial rational function drawing
(1) Code drawing
//多项式有理函数绘图
void MainWindow::doActionplot2() {
//定义一个plottter类
pcl::visualization::PCLPlotter * plotter = new pcl::visualization::PCLPlotter();
plotter->setShowLegend(true);//显示图例
//定义一个多项式有理函数
//多项式函数是由系数向量定义，有理函数是由多项式对（分子和分母对）定义
//多项式有理函数：1/(6+x^1+x^2)
//令分子1为func1
//令分母(6+x^1+x^2)为func2
pcl::visualization::PCLPlotter::PolynomialFunction func1(1, 0);
func1[0] = 1;
pcl::visualization::PCLPlotter::PolynomialFunction func2(3, 0);
func2[0] = 6;
func2[1] = 1;
func2[2] = 1;
//对话获取参数
int style = QInputDialog::getInt(this, QStringLiteral("绘图类型选择"), QStringLiteral("类型：0线图，1点图，2条形图，3实体图"), 0, 0, 3);
switch (style) {
case 0:
//将多项式添加进plottter中
//X 轴的区间范围：[-10, 10] as the range in X axis and "1/(6+x^1+x^2)" as title
plotter->addPlotData(pcl::visualization::PCLPlotter::RationalFunction(func1,func2), -10, 10, "1/(6+x^1+x^2)", 100, vtkChart::LINE);//绘线图
plotter->setTitle("LINE");
break;
case 1:
plotter->addPlotData(pcl::visualization::PCLPlotter::RationalFunction(func1, func2), -10, 10, "1/(6+x^1+x^2)", 100, vtkChart::POINTS);//绘点图
plotter->setTitle("POINTS");
break;
case 2:
plotter->addPlotData(pcl::visualization::PCLPlotter::RationalFunction(func1, func2), -10, 10, "1/(6+x^1+x^2)", 100, vtkChart::BAR);//绘条形图
plotter->setTitle("BAR");
break;
case 3:
plotter->addPlotData(pcl::visualization::PCLPlotter::RationalFunction(func1, func2), -10, 10, "1/(6+x^1+x^2)", 100, vtkChart::STACKED);//绘实体图
plotter->setTitle("STACKED");
break;
}
//显示图表，完成
plotter->plot();
}
(2) Drawing results
① Line graph
② point map
③ Bar graph
④ Entity diagram
4. Point-to-point drawing
(1) Code drawing
//点对绘图
void MainWindow::doActionplot3() {
//定义一个plottter类
pcl::visualization::PCLPlotter * plotter = new pcl::visualization::PCLPlotter();
plotter->setShowLegend(true);//显示图例
//添加数据
std::vector<std::pair<double, double> > data;
data.push_back({
1,1 });
data.push_back({
3,3 });
data.push_back({
1,3 });
data.push_back({
3,1 });
data.push_back({
2,5 });
data.push_back({
1,1 });
//对话获取参数
int style = QInputDialog::getInt(this, QStringLiteral("绘图类型选择"), QStringLiteral("类型：0线图，1点图，2条形图，3实体图"), 0, 0, 3);
switch (style) {
case 0:
//将点对添加进plottter中
plotter->addPlotData(data, "pair points", vtkChart::LINE);//绘线图
plotter->setTitle("LINE");
break;
case 1:
plotter->addPlotData(data, "pair points", vtkChart::POINTS);//绘点图
plotter->setTitle("POINTS");
break;
case 2:
plotter->addPlotData(data, "pair points", vtkChart::BAR);//绘条形图
plotter->setTitle("BAR");
break;
case 3:
plotter->addPlotData(data, "pair points", vtkChart::STACKED);//绘实体图
plotter->setTitle("STACKED");
break;
}
//显示图表，完成
plotter->plot();
}
(2) Drawing results
① Line graph
② point map
③ Bar graph
④ Entity diagram
References:
[1] SOC Luo Sanpao. PCL Tutorial - PCLPlotter Chart Visualization Class ; 2022-04-11 [accessed 2023-07-13].
[2] Stanford Rabbit. [PCL self-study: PCLPlotter] PCLPlotter drawing data analysis Figure ; 2022-06-25 [accessed 2023-07-13].
[3] jiaojialulu. (14) Visualization Tutorial II ; 2017-04-05 [accessed 2023-07-13]
. Dead. PCL: PCL_PCLPlotter class, draw a line graph ; 2019-08-20 [accessed 2023-07-13].
[5] zhy29563. [PCL] PCLPlotter draws a two-dimensional graph ; 2022-01-14 [accessed 2023-07 -13].
[6] Jie Nijun. Point Cloud Library PCL Study Notes – Visualization – 4. PCLPlotter Visualization Feature Histogram ; 2022-03-04 [accessed 2023-07-13].
[7] Rson555. PCL_PCLPlotter class learning Tutorial ; 2019-01-28 [accessed 2023-07-13].