点云根据索引提取点云

pcl里面根据索引提取子点云的接口有 ExtractIndices

使用效果如下:

 有3个点,提取 所以0,2的点

 取反

编写的klib可视化平台的插件代码如下:

struct OpExtractIndices
{
	bool extract_removed_indices = false;
	bool negative = false;
	PointIndicesPtr indicesPtr;
	template<class PT>
	KArbit operator()(const pcl::shared_ptr<PointCloud<PT> >& cld)
	{
		auto cld2 = pcl::make_shared<PointCloud<PT>>();
		pcl::ExtractIndices<PT> extract(extract_removed_indices);
		extract.setInputCloud(cld);
		extract.setIndices(indicesPtr);
		extract.setNegative(negative);
		extract.filter(*cld2);
		return cld2;
	}
};

struct KPclOpCldExtractIndices : KPlugBase
{
	OpExtractIndices p;
	KPclOpCldExtractIndices()
	{
		addProp("indexList").setType(PropTypeInt32List).setEmptyIndex(1);
		addProp("negative").setType(PropTypeBool).setValueAddr(&p.negative);
		addProp("extract_removed_indices").setType(PropTypeBool).setValueAddr(&p.extract_removed_indices);
	}

	int __exec(const KArbit& src, KArbit& dst) override
	{
		auto& aL = a2list(src);
		CastType(idx, PointIndicesPtr, aL[1]);
		p.indicesPtr = idx;
		dst = cld_op(aL[0], p);
		return true;
	}
};