openGL+open3d+python 鼠标拖动画矩形框选出点云数据的感兴趣区域代码

下面是一个简单的示例代码，它使用OpenGL和Open3D库来实现鼠标拖动画矩形框，并选择点云数据中的感兴趣区域。您可以根据自己的需求进行修改和扩展。

import glfw
from OpenGL.GL import *
from OpenGL.GLU import *
import open3d as o3d
import numpy as np

# 定义顶点坐标、颜色和法向量
vertices = np.array([
    [-0.5, -0.5, 0.0],
    [0.5, -0.5, 0.0],
    [0.5, 0.5, 0.0],
    [-0.5, 0.5, 0.0]
], dtype=np.float32)

colors = np.array([
    [1.0, 0.0, 0.0],
    [0.0, 1.0, 0.0],
    [0.0, 0.0, 1.0],
    [1.0, 1.0, 0.0]
], dtype=np.float32)

normals = np.array([
    [0.0, 0.0, 1.0],
    [0.0, 0.0, 1.0],
    [0.0, 0.0, 1.0],
    [0.0, 0.0, 1.0]
], dtype=np.float32)

# 定义顶点索引
indices = np.array([
    [0, 1, 2],
    [2, 3, 0]
], dtype=np.uint32)

# 创建一个窗口
def create_window(width, height):
    if not glfw.init():
        return None

    glfw.window_hint(glfw.SAMPLES, 4)
    glfw.window_hint(glfw.CONTEXT_VERSION_MAJOR, 3)
    glfw.window_hint(glfw.CONTEXT_VERSION_MINOR, 3)
    glfw.window_hint(glfw.OPENGL_FORWARD_COMPAT, GL_TRUE)
    glfw.window_hint(glfw.OPENGL_PROFILE, glfw.OPENGL_CORE_PROFILE)

    window = glfw.create_window(width, height, "Select points", None, None)
    if not window:
        glfw.terminate()
        return None

    glfw.make_context_current(window)
    glfw.set_input_mode(window, glfw.STICKY_KEYS, GL_TRUE)
    glfw.set_input_mode(window, glfw.CURSOR, glfw.CURSOR_NORMAL)
    glfw.set_cursor_pos_callback(window, cursor_pos_callback)
    glfw.set_mouse_button_callback(window, mouse_button_callback)

    return window

# 绘制矩形框
def draw_rect(x1, y1, x2, y2):
    glLoadIdentity()
    glMatrixMode(GL_PROJECTION)
    glPushMatrix()
    glLoadIdentity()
    gluOrtho2D(0, 800, 600, 0)
    glMatrixMode(GL_MODELVIEW)
    glPushMatrix()
    glLoadIdentity()
    glDisable(GL_DEPTH_TEST)
    glDisable(GL_LIGHTING)
    glColor3f(1.0, 0.0, 0.0)
    glBegin(GL_LINE_LOOP)
    glVertex2f(x1, y1)
    glVertex2f(x2, y1)
    glVertex2f(x2, y2)
    glVertex2f(x1, y2)
    glEnd()
    glEnable(GL_DEPTH_TEST)
    glEnable(GL_LIGHTING)
    glMatrixMode(GL_PROJECTION)
    glPopMatrix()
    glMatrixMode(GL_MODELVIEW)
    glPopMatrix()

# 鼠标按下时记录起始坐标和标志位
def mouse_button_callback(window, button, action, mods):
    global g_mouse_pressing, g_mouse_x1, g_mouse_y1, g_mouse_x2, g_mouse_y2

    if button == glfw.MOUSE_BUTTON_LEFT and action == glfw.PRESS:
        g_mouse_pressing = True
        x, y = glfw.get_cursor_pos(window)
        g_mouse_x1, g_mouse_y1 = x, y
        g_mouse_x2, g_mouse_y2 = x, y

    elif button == glfw.MOUSE_BUTTON_LEFT and action == glfw.RELEASE:
        g_mouse_pressing = False
        x, y = glfw.get_cursor_pos(window)
        g_mouse_x2, g_mouse_y2 = x, y

# 鼠标移动时更新矩形框坐标并选择点云数据
def cursor_pos_callback(window, x, y):
    global g_mouse_x2, g_mouse_y2

    if g_mouse_pressing:
        g_mouse_x2, g_mouse_y2 = x, y

    width, height = glfw.get_window_size(window)
    y = height - y

    glViewport(0, 0, width, height)
    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()
    gluPerspective(45.0, float(width) / height, 0.1, 100.0)
    glMatrixMode(GL_MODELVIEW)
    glLoadIdentity()
    gluLookAt(0, 0, 5, 0, 0, 0, 0, 1, 0)

    # 绘制矩形框
    draw_rect(g_mouse_x1, g_mouse_y1, g_mouse_x2, g_mouse_y2)

    # 选择点云数据
    rect = np.array([[g_mouse_x1, y], [g_mouse_x2, y], [g_mouse_x2, g_mouse_y2], [g_mouse_x1, g_mouse_y2]])
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(vertices)
    pcd.colors = o3d.utility.Vector3dVector(colors)
    pcd.normals = o3d.utility.Vector3dVector(normals)
    pcd_tree = o3d.geometry.KDTreeFlann(pcd)
    points = []
    for i in range(4):
        _, idx, _ = pcd_tree.search_knn_vector_3d(rect[i], 1)
        points.append(idx[0])
    selected_pcd = pcd.select_down_sample(points)

    # 绘制点云数据
    glPointSize(5.0)
    glBegin(GL_POINTS)
    for i in range(len(selected_pcd.points)):
        glColor3f(selected_pcd.colors[i][0], selected_pcd.colors[i][1], selected_pcd.colors[i][2])
        glVertex3f(selected_pcd.points[i][0], selected_pcd.points[i][1], selected_pcd.points[i][2])
    glEnd()

# 主函数
def main():
    window = create_window(800, 600)
    if not window:
        return

    glEnable(GL_DEPTH_TEST)
    glEnable(GL_LIGHTING)
    glEnable(GL_LIGHT0)
    glEnable(GL_COLOR_MATERIAL)
    glShadeModel(GL_SMOOTH)

    while not glfw.window_should_close(window):
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
        glClearColor(0.0, 0.0, 0.0, 1.0)

        glEnableClientState(GL_VERTEX_ARRAY)
        glEnableClientState(GL_COLOR_ARRAY)
        glEnableClientState(GL_NORMAL_ARRAY)
        glVertexPointer(3, GL_FLOAT, 0, vertices)
        glColorPointer(3, GL_FLOAT, 0, colors)
        glNormalPointer(GL_FLOAT, 0, normals)
        glDrawElements(GL_TRIANGLES, len(indices.flatten()), GL_UNSIGNED_INT, indices.flatten())
        glDisableClientState(GL_VERTEX_ARRAY)
        glDisableClientState(GL_COLOR_ARRAY)
        glDisableClientState(GL_NORMAL_ARRAY)

        glfw.swap_buffers(window)
        glfw.poll_events()

    glfw.terminate()

if __name__ == '__main__':
    main()

在运行该代码时，您可以使用鼠标左键点击并拖动以绘制矩形框，并选择点云数据中的感兴趣区域。