pcd点云显示和鼠标框选
时间: 2023-11-28 11:47:08 浏览: 57
要实现点云的显示和鼠标框选,可以使用PCL(Point Cloud Library)库。这里提供一个基本的示例代码:
```c++
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
int main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ> ("your_point_cloud.pcd", *cloud);
pcl::visualization::PCLVisualizer viewer("Point Cloud Viewer");
viewer.setBackgroundColor(0.0, 0.0, 0.0);
viewer.addPointCloud<pcl::PointXYZ> (cloud, "cloud");
while(!viewer.wasStopped())
{
viewer.spinOnce();
// Check if the left mouse button was pressed
if(viewer.wasStopped())
break;
pcl::PointXYZ min_pt, max_pt;
viewer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, min_pt, max_pt);
int mouse_x, mouse_y;
viewer.getMousePoint(mouse_x, mouse_y);
viewer.getPointCloudPoint(mouse_x, mouse_y, min_pt.x, min_pt.y, min_pt.z);
// Check if the mouse button was released
if(viewer.wasStopped())
break;
viewer.getMousePoint(mouse_x, mouse_y);
viewer.getPointCloudPoint(mouse_x, mouse_y, max_pt.x, max_pt.y, max_pt.z);
// Draw a bounding box around the selected area
viewer.addCube(min_pt.x, max_pt.x, min_pt.y, max_pt.y, min_pt.z, max_pt.z, 1.0, 0.0, 0.0, "selection");
}
return 0;
}
```
这个示例程序使用了PCLVisualizer类来创建一个点云窗口,并加载了指定的PCD文件。在循环中,程序通过检查鼠标左键是否被按下来判断是否开始框选。如果是,则获取当前鼠标位置的点坐标,并且等待鼠标松开。当鼠标松开时,程序再次获取鼠标位置的点坐标,并在点云中绘制一个边界框。这个边界框可以用来选择感兴趣的点云区域。