在PCLVisualizer展示窗口中选择点实现代码

最新推荐文章于 2024-09-19 09:16:45 发布

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最新推荐文章于 2024-09-19 09:16:45 发布

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分类专栏： PCL 文章标签： PCL c++

本文链接：https://blog.csdn.net/MyCodingLine/article/details/50738873

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本文介绍了一个基于PCL库实现的点云可视化及交互式点选取的应用案例。通过加载PLY格式的三维模型文件，并利用PCLVisualizer进行渲染展示，用户可以直观地查看点云数据，并通过鼠标点击的方式选择特定的点。被选中的点会被存储并输出，方便进一步的数据处理或分析。

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代码如下：

#include <pcl/point_cloud.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace pcl;
using namespace std;

class pickPoints { 
public: 

    pickPoints::pickPoints () { 
        viewer.reset (new pcl::visualization::PCLVisualizer ("Viewer", true)); 
        viewer->registerPointPickingCallback (&pickPoints::pickCallback, *this); 
    } 

    ~pickPoints () {} 

    void setInputCloud (PointCloud<PointXYZ>::Ptr cloud) 
    { 
        cloudTemp = cloud; 
    } 

    vector<float> getpoints() { 
        return p; 
    } 

    void simpleViewer () 
    { 
        // Visualizer
        viewer->addPointCloud<pcl::PointXYZ>(cloudTemp, "Cloud"); 
        viewer->resetCameraViewpoint ("Cloud"); 
        viewer->spin(); 
    } 

protected: 
    void pickCallback (const pcl::visualization::PointPickingEvent& event, void*) 
    { 
        if (event.getPointIndex () == -1) 
            return; 

        PointXYZ picked_point1,picked_point2; 
        event.getPoints(picked_point1.x,picked_point1.y,picked_point1.z,
            picked_point2.x,picked_point2.y,picked_point2.z); 
        p.push_back(picked_point1.x); // store points
        p.push_back(picked_point1.y);
        p.push_back(picked_point1.z); 
        p.push_back(picked_point2.x);
        p.push_back(picked_point2.y);
        p.push_back(picked_point2.z); 

        //cout<<"first selected point: "<<p[0]<<" "<<p[1]<<" "<<p[2]<<endl;
        //cout<<"second selected point: "<<p[3]<<" "<<p[4]<<" "<<p[5]<<endl;
    } 

private: 
    // Point cloud data 
    PointCloud<pcl::PointXYZ>::Ptr cloudTemp; 

    // The visualizer 
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer; 

    // The picked point 
    vector<float> p; 
}; 

int main()
{
    //LOAD;
    PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ> ());
    pcl::PolygonMesh mesh;
    pcl::io::loadPolygonFilePLY("test.ply", mesh);
    pcl::fromPCLPointCloud2(mesh.cloud, *cloud);

    pickPoints pickViewer; 
    pickViewer.setInputCloud(cloud); // A pointer to a cloud 
    pickViewer.simpleViewer(); 
    vector<float> pointSelected; 
    pointSelected= pickViewer.getpoints(); 

    cout<<pointSelected[0]<<" "<<pointSelected[1]<<" "<<pointSelected[2]<<endl;
    cout<<pointSelected[3]<<" "<<pointSelected[4]<<" "<<pointSelected[5]<<endl;

    cin.get();
    return 0;
}