基于PCL的屏幕选点、框选点云、单点选取

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#include <pcl/io/pcd_io.h>

#include <pcl/point_cloud.h>

#include <pcl/point_types.h>

#include <pcl/visualization/pcl_visualizer.h>

typedef pcl::PointXYZRGBA PointT;

typedef pcl::PointCloud<PointT> PointCloudT;

// Mutex: //

boost::mutex cloud_mutex;

struct callback_args

{

    // structure used to pass arguments to the callback function

    PointCloudT::Ptr clicked_points_3d;

    pcl::visualization::PCLVisualizer::Ptr viewerPtr;

};

void pp_callback(const pcl::visualization::PointPickingEvent& event, void* args)

{

    struct callback_args* data = (struct callback_args *)args;

    if (event.getPointIndex() == -1)

        return;

    PointT current_point;

    event.getPoint(current_point.x, current_point.y, current_point.z);

    data->clicked_points_3d->points.push_back(current_point);

    // Draw clicked points in red:

    pcl::visualization::PointCloudColorHandlerCustom<PointT> red(data->clicked_points_3d, 255, 0, 0);

    data->viewerPtr->removePointCloud("clicked_points");

    data->viewerPtr->addPointCloud(data->clicked_points_3d, red, "clicked_points");

    data->viewerPtr->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "clicked_points");

    std::cout << current_point.x << " " << current_point.y << " " << current_point.z << std::endl;

}

void main()

{

    std::string filename("bunny.pcd");

    //visualizer

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));

    if (pcl::io::loadPCDFile(filename, *cloud))

    {

        std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;

        return;

    }

    std::cout << cloud->points.size() << std::endl;

    //viewer->addPointCloud(cloud, "bunny");

    cloud_mutex.lock();    // for not overwriting the point cloud

    // Display pointcloud:

    viewer->addPointCloud(cloud, "bunny");

    viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);

    // Add point picking callback to viewer:

    struct callback_args cb_args;

    PointCloudT::Ptr clicked_points_3d(new PointCloudT);

    cb_args.clicked_points_3d = clicked_points_3d;

    cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(viewer);

    viewer->registerPointPickingCallback(pp_callback, (void*)&cb_args);

    std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;

    // Spin until 'Q' is pressed:

    viewer->spin();

    std::cout << "done." << std::endl;

    cloud_mutex.unlock();

    while (!viewer->wasStopped())

    {

        viewer->spinOnce(100);

        boost::this_thread::sleep(boost::posix_time::microseconds(100000));

    }

}

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#include <pcl/io/pcd_io.h>

#include <pcl/point_cloud.h>

#include <pcl/point_types.h>

#include <pcl/visualization/pcl_visualizer.h>

#include <pcl/filters/voxel_grid.h>

#include <iostream>

#include <vector>

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]));

    }

    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, 10, cloudName);

}

void main()

{

    if (pcl::io::loadPCDFile("bunny.pcd", *cloud))

    {

        std::cerr << "ERROR: Cannot open file " << std::endl;

        return;

    }

    viewer->addPointCloud(cloud, "bunny");

    viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);

    viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);

    //VoxelGrid

    pcl::VoxelGrid<pcl::PointXYZ> vgF;

    vgF.setInputCloud(cloud);

    vgF.setLeafSize(0.1, 0.1, 0.1);

    vgF.filter(*cloud);

    while (!viewer->wasStopped())

    {

        viewer->spinOnce(100);

        boost::this_thread::sleep(boost::posix_time::microseconds(100000));

    }

}