C++ PCL点云局部颜色变换-编程知识

C++ PCL点云局部颜色变换

程序示例精选
C++ PCL点云局部颜色变换
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前言

这篇博客针对《C++ PCL点云局部颜色变换》编写代码，代码整洁，规则，易读。学习与应用推荐首选。

运行结果

文章目录

一、所需工具软件
二、使用步骤
1. 主要代码
2. 运行结果
三、在线协助

一、所需工具软件

1. VS2019, Qt
2. C++

二、使用步骤

代码如下（示例）：


#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
pcl::PointCloud<pcl::PointXYZ>::Ptr clicked_points_3d(new pcl::PointCloud<pcl::PointXYZ>);
int num = 0;
unsigned char* pointmark;//点云分类标记namespace
{#include<fstream>#include<string>void MarkSelectPointIndexToTxt(std::vector<int>& indices, std::string txtfilename){std::fstream ofs(txtfilename, std::ios::out);if (ofs.is_open()){for (auto& index : indices){ofs << std::to_string(index) << "\n";}ofs.flush();ofs.close();std::cout << "write" << txtfilename << "successfully" << std::endl;}}}void main()
{char path[100];sprintf_s(path, "Airplane_v1.pcd");if (pcl::io::loadPCDFile(path, *cloud)){std::cerr << "ERROR: Cannot open file " << std::endl;return;}pointmark = new unsigned char[cloud->size()];for (size_t i = 0; i < cloud->size(); i++){pointmark[i] = 0;//初始化点云分类标识，0为未标记点}viewer->addPointCloud<pcl::PointXYZ>(cloud, "point");//添加显示点云clicked_points_3d->width = 0;//初始化点云个数std::vector<int> indices;//读尾巴的点//ReadPointIndexFromTxt(indices, "tail.txt");//读翅膀的点ReadPointIndexFromTxt(indices, "head.txt");//添加点云（去掉重复的点）int addcount = 0;//添加点计数for (int i = 0; i < indices.size(); ++i){if (pointmark[indices[i]] == 0){clicked_points_3d->points.push_back(cloud->points.at(indices[i]));addcount++;pointmark[indices[i]] = 1;//将点云标记为已圈选状态}}pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(clicked_points_3d, 255, 0, 0);//每添加一次点云都要取一次别名，不然只能选择一次std::stringstream ss;std::string cloudName;ss << num++;ss >> cloudName;cloudName += "_cloudName";//添加点云，并设置其显示半径viewer->addPointCloud(clicked_points_3d, red, cloudName);viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, cloudName);//viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);while (!viewer->wasStopped()){viewer->spinOnce(100);}delete[]pointmark;
}

运行结果

三、在线协助：

如需安装运行环境或远程调试，见文章底部个人 QQ 名片，由专业技术人员远程协助！

1）远程安装运行环境，代码调试
2）Visual Studio, Qt, C++, Python编程语言入门指导
3）界面美化
4）软件制作

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