[英]Point Cloud Library: Sliced points to custom colors
我正在將帶有Qt的pcl和vtk庫用於點雲可視化。 我的設置如下鏈接http://unanancyowen.com/en/pcl-with-qt/
現在,當我們對點進行切片時,即按“ x”並通過AreaPickingEvent選擇一個區域,所選的切片點將變為紅色。 通過以下功能完成
void PointCloudVisualizer::highlightPoint(std::vector<int>& slice)
{
if (slice.size()<1) return;
for (std::vector<int>::iterator it = slice.begin(); it != slice.end(); it++) {
m_cloudLabel[*it] = SELECTED_POINT;//SELECTED_POINT = 1
}
}
void PointCloudVisualizer::updateCloud()
{
m_pViewer->updatePointCloud<PointT>(m_pCloud, m_pColorHandler, m_sCurrentPointCloudId.toStdString());
m_pPointCloudVisualizerUI->qvtkWidget->update();
}
//area picking event, after the points are sliced we call these 2 functions and the sliced points gets red
void PointCloudVisualizer::AreaPickingEventProcess(const pcl::visualization::AreaPickingEvent& event)
{
vector<int> newSelectedSliceVector;
event.getPointsIndices(newSelectedSliceVector);
if (newSelectedSliceVector.empty()) return;
// remove ground points
vector<int> groundPointsVector;
for (auto point : newSelectedSliceVector)
{
if (m_cloudLabel[point] != GROUND_POINT)
{
groundPointsVector.push_back(point);
}
}
.
.
.
newSelectedSliceVector = groundPointsVector;
m_lastSelectedSliceVector = newSelectedSliceVector;
.
.
.
highlightPoint(m_lastSelectedSliceVector);//red color selected points
updateCloud();
.
.
.
}
//other variables
int* m_cloudLabel;
PointCloudTPtr m_pCloud;
//initializing m_cloudLabel
m_cloudLabel = new int[m_pCloud->size()];
memset(m_cloudLabel, 0, m_pCloud->size()*sizeof(int));
m_pColorHandler.setInputCloud(m_pCloud);
m_pColorHandler.setLabel(m_cloudLabel);
//----------------------------------------
const int DEFAULT_POINT = 0;
const int SELECTED_POINT = 1;
const int GROUND_POINT = 2;
現在,如果我們通過GROUND_POINT,它將變為藍色,用於平面檢測或閾值。
現在,我的要求是根據用戶的定義為切片的點着色。 如何將我的自定義顏色應用於pcl :: RGB的切片點。
任何建議表示贊賞!
點雲處理程序維護用於為切片點着色的顏色LUT(查找表)。 更新了顏色LUT並調用了HighlightPoints,其中SELECTED_POINT索引隨着用戶選擇顏色而更新。
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