[CC]Plugin-提取ISS3D关键点

基于CloudCompare开发的提取ISS3D关键点。

  1 void qLxPluginPCL::doISS3D()
  2 {
  3     assert(m_app);
  4     if (!m_app)
  5         return;
  6
  7     const ccHObject::Container& selectedEntities = m_app->getSelectedEntities();
  8     size_t selNum = selectedEntities.size();
  9     if (selNum!=1)
 10     {
 11         m_app->dispToConsole("Select only one cloud!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
 12         return;
 13     }
 14
 15     ccHObject* ent = selectedEntities[0];
 16     assert(ent);
 17     if (!ent || !ent->isA(CC_TYPES::POINT_CLOUD))
 18     {
 19         m_app->dispToConsole("Select a real point cloud!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
 20         return;
 21     }
 22
 23     ccPointCloud* m_cc_cloud = static_cast<ccPointCloud*>(ent);
 24
 25
 26     //input cloud
 27     unsigned count = m_cc_cloud->size();
 28     bool hasNorms = m_cc_cloud->hasNormals();
 29     CCVector3 bbMin, bbMax;
 30     m_cc_cloud->getBoundingBox(bbMin,bbMax);
 31     const CCVector3d& globalShift = m_cc_cloud->getGlobalShift();
 32     double globalScale = m_cc_cloud->getGlobalScale();
 33
 34     ccIss3Ddlg dlg;
 35     if (!dlg.exec())
 36         return;
 37
 38     double s_SalientRadius=dlg.sbSalientRadius->value();
 39     double s_NonMaxRadius =dlg.spNonMaxRadius->value();
 40     double s_Threshold21 = dlg.spThreshold21->value();
 41     double s_Threshold32 = dlg.spThreshold32->value();
 42
 43     pcl::PointCloud<PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<PointXYZ>);
 44     try
 45     {
 46         unsigned pointCount = m_cc_cloud->size();
 47         pcl_cloud->resize(pointCount);
 48
 49         for (unsigned i = 0; i < pointCount; ++i)
 50         {
 51             const CCVector3* P = m_cc_cloud->getPoint(i);
 52             pcl_cloud->at(i).x = static_cast<float>(P->x);
 53             pcl_cloud->at(i).y = static_cast<float>(P->y);
 54             pcl_cloud->at(i).z = static_cast<float>(P->z);
 55         }
 56     }
 57     catch(...)
 58     {
 59         //any error (memory, etc.)
 60         pcl_cloud.reset();
 61     }
 62
 63     printf("读取了data点云数据：%d\n",pcl_cloud->size());
 64
 65     pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
 66
 67     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out (new pcl::PointCloud<pcl::PointXYZ>);
 68
 69     pcl::ISSKeypoint3D<pcl::PointXYZ,pcl::PointXYZ> iss_detector;
 70     iss_detector.setSearchMethod (tree);
 71     iss_detector.setSalientRadius(s_SalientRadius);
 72     iss_detector.setNonMaxRadius(s_NonMaxRadius);
 73     /*iss_detector.setSalientRadius(2.0f);
 74     iss_detector.setNonMaxRadius(1.6f);*/
 75     iss_detector.setInputCloud(pcl_cloud);
 76     /*iss_detector.setThreshold21 (0.975);
 77     iss_detector.setThreshold32 (0.975);*/
 78     iss_detector.setThreshold21 (s_Threshold21);
 79     iss_detector.setThreshold32 (s_Threshold32);
 80     iss_detector.setMinNeighbors (5);
 81     iss_detector.setNumberOfThreads (4);
 82     cout<<"parameter set successful"<<endl;
 83     iss_detector.compute(*cloud_out);
 84
 85     int pointCount = cloud_out->size();
 86
 87     //static_cast<size_t>(sm_cloud ? sm_cloud->width * sm_cloud->height : 0);
 88
 89     ccPointCloud* ccCloud =new ccPointCloud();
 90     if (!ccCloud->reserve(static_cast<unsigned>(pointCount)))
 91         return ;
 92     for (size_t i = 0; i < pointCount; ++i)
 93     {
 94         CCVector3 P(cloud_out->at(i).x,cloud_out->at(i).y,cloud_out->at(i).z);
 95         ccCloud->addPoint(P);
 96     }
 97     ccCloud->setName(QString("ISS3D"));
 98     ccColor::Rgb col = ccColor::Generator::Random();
 99     ccCloud->setRGBColor(col);
100     ccCloud->showColors(true);
101     ccCloud->setPointSize(5);
102     ccHObject* group = 0;
103     if (!group)
104         group = new ccHObject(QString("ISS3D").arg(ent->getName()));
105     group->addChild(ccCloud);
106     group->setVisible(true);
107     m_app->addToDB(group);
108 }

界面：