PCL单选点和框选点

网上很多类似的教程，参考了好几篇整合了一下。

稍微修改了一下，实现了单选和框选点云，并保存出来。

单选：

发现一个小问题，鼠标点击频率很快时，点加粗变红速度跟不上，但是点是保存出来了。

按下Q之后，保存将单选的点为文件名为slect_points.txt的文本。

框选：

  

将框选出来的保存为0_cloudName.pcd文件。

代码：

#include <pcl/io/pcd_io.h> #include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/filters/extract_indices.h> #include <pcl/visualization/pcl_visualizer.h> #include <fstream> #include <vector> using namespace std; typedef pcl::PointXYZ PointT; typedef pcl::PointCloud<PointT> PointCloudT; pcl::PointCloud<PointT>::Ptr cloud(new PointCloudT); pcl::PointCloud<PointT>::Ptr clicked_points_3d(new PointCloudT); boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer")); int num = 0; vector<PointT> v; PointT p; //存储索引 vector< int > indices; void Write_points() { ofstream out("slect_points.txt"); for (vector<PointT> ::iterator it = v.begin(); it != v.end(); ++it) { out << (*it).x << " " << (*it).y << " " << (*it).z << endl; } } void pp_callback_AreaSelect(const pcl::visualization::AreaPickingEvent& event, void* args) { 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); //保存点云 pcl::io::savePCDFileBinary(cloudName += ".pcd", *clicked_points_3d); } void pp_callback_PointsSelect(const pcl::visualization::PointPickingEvent& event, void* args) { if (event.getPointIndex() == -1) return; PointT current_point; event.getPoint(current_point.x, current_point.y, current_point.z); //将选中的点云存在Points里面 clicked_points_3d->points.push_back(current_point); // 将选中的点赋为红色 pcl::visualization::PointCloudColorHandlerCustom<PointT> red(clicked_points_3d, 255, 0, 0); viewer->removePointCloud("clicked_points"); viewer->addPointCloud(clicked_points_3d, red, "clicked_points"); viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "clicked_points"); std::cout << current_point.x << " " << current_point.y << " " << current_point.z << std::endl; p.x = current_point.x; p.y = current_point.y; p.z = current_point.z; v.push_back(p); } void main() { std::string filename("rabbit.pcd"); 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"); viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0); viewer->registerPointPickingCallback(pp_callback_PointsSelect, (void*)&cloud); viewer->registerAreaPickingCallback(pp_callback_AreaSelect, (void*)&cloud); std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl; viewer->spin(); Write_points();//写出点数据 std::cout << "done." << std::endl; while (!viewer->wasStopped()) { viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } }

集成到QT+VTK+PCL中，好好看懂几处关键的就可以实现了。可以参考这篇博客：

https://blog.csdn.net/SLAM_masterFei/article/details/84929449

主要初始化函数那一部分修改一下就可以了。

参考的部分博客：

https://blog.csdn.net/weixinhum/article/details/88350315