qt 点云 交互 裁切
时间: 2023-12-23 16:27:10 浏览: 121
以下是关于Qt中点云交互裁切的介绍:
1. 使用PCL库和QT实现点云可视化和交互功能,可以通过PCL的PointCloud类加载点云数据,并在QT界面中进行可视化展示。
```cpp
// 代码示例
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <QVTKWidget.h>
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("path/to/pointcloud.pcd", *cloud);
viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
ui->qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
viewer->setupInteractor(ui->qvtkWidget->GetInteractor(), ui->qvtkWidget->GetRenderWindow());
viewer->resetCamera();
ui->qvtkWidget->update();
```
2. 实现鼠标坐标拾取功能,可以通过PCL的PointPickingEvent事件来获取鼠标拾取的点,并在QT界面上显示该点的坐标信息。
```cpp
// 代码示例
void pointPickingEventOccurred(const pcl::visualization::PointPickingEvent& event, void* viewer_void)
{
float x, y, z;
if (event.getPointIndex() == -1)
return;
event.getPoint(x, y, z);
std::cout << "Point coordinate: " << x << " " << y << " " << z << std::endl;
}
viewer->registerPointPickingCallback(pointPickingEventOccurred, (void*)&viewer);
```
3. 对点云进行裁切,可以使用PCL的PassThrough滤波器对点云进行裁切操作,然后更新QT界面上的点云显示。
```cpp
// 代码示例
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(0.0, 1.0);
pass.filter(*cloud_filtered);
viewer->updatePointCloud(cloud_filtered, "sample cloud");
ui->qvtkWidget->update();
```