PCL圈选点云是非常常见的需求,而PCL的API本身也集成了这一功能,只需简单的代码调用即可。实现代码如下(按“x”键一下进入圈选状态,再按一下则退出。):
#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
pcl::PointCloud<pcl::PointXYZ>::Ptr clicked_points_3d(new pcl::PointCloud<pcl::PointXYZ>);
int num = 0;
void pp_callback(const pcl::visualization::AreaPickingEvent& event, void* args)
{
std::vector< int > indices;
if (event.getPointsIndices(indices) == -1)
return;
for (int i = 0; i < indices.size(); ++i)
{
clicked_points_3d->points.push_back(cloud->points.at(indices[i]));
}
clicked_points_3d->height = 1;
clicked_points_3d->width += indices.size();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(clicked_points_3d, 255, 0, 0);
std::stringstream ss;
std::string cloudName;
ss << num++;
ss >> cloudName;
cloudName += "_cloudName";
viewer->addPointCloud(clicked_points_3d, red, cloudName);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, cloudName);
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ>("plane.pcd", *clicked_points_3d);
}
void main()
{
if (pcl::io::loadPCDFile("save.pcd", *cloud))
{
std::cerr << "ERROR: Cannot open file " << std::endl;
return;
}
viewer->addPointCloud(cloud, "point");
clicked_points_3d->width = 0;
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
另外,上面的代码圈选的时候存在同一点被反复选中,多次保存的问题,如不想重复则需要做滤除,代码如下:
#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
pcl::PointCloud<pcl::PointXYZ>::Ptr clicked_points_3d(new pcl::PointCloud<pcl::PointXYZ>);
int num = 0;
unsigned char *pointmark;
void pp_callback(const pcl::visualization::AreaPickingEvent& event, void* args)
{
std::vector< int > indices;
if (event.getPointsIndices(indices) == -1)
return;
int addcount = 0;
long bt = clock();
for (int i = 0; i < indices.size(); ++i)
{
if (pointmark[indices[i]] == 0)
{
clicked_points_3d->points.push_back(cloud->points.at(indices[i]));
addcount++;
pointmark[indices[i]] = 1;
}
}
long et = clock();
std::cout << "花费时间:" << et - bt << "ms" << endl;
std::cout << "添加点数:" << addcount << endl;
clicked_points_3d->height = 1;
clicked_points_3d->width += addcount;
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(clicked_points_3d, 255, 0, 0);
std::stringstream ss;
std::string cloudName;
ss << num++;
ss >> cloudName;
cloudName += "_cloudName";
viewer->addPointCloud(clicked_points_3d, red, cloudName);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, cloudName);
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ>("plane.pcd", *clicked_points_3d);
}
void main()
{
char path[100];
sprintf_s(path,"233.pcd");
if (pcl::io::loadPCDFile(path, *cloud))
{
std::cerr << "ERROR: Cannot open file " << std::endl;
return;
}
pointmark = new unsigned char[cloud->size()];
for (size_t i = 0; i < cloud->size(); i++)
{
pointmark[i] = 0;
}
viewer->addPointCloud<pcl::PointXYZ>(cloud, "point");
clicked_points_3d->width = 0;
viewer->registerAreaPickingCallback(pp_callback, (void*)& cloud);
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
delete[]pointmark;
}