QT+VTK+PCL实现交互式点云平面切割

PCL及QT配置请移步点击打开链接

前言

恭喜你已经入了qt和pcl的坑，这篇文章帮助你实现在qvtkWidget中点云平面切割以及保存切割数据。

前提是你已经能成功读取pcd文件，并且将qvtkWidget配置好（代码中省略读取pcd部分）

先放效果图，如果是你想要的就继续读下去。

ps：初学，so只是将功能实现而已，若代码风格以及完成功能方法不尽如人意请尽管提出建议~么么哒





class vtkIPWCallback : public vtkCommand
{
public:
static vtkIPWCallback *New()
{
return new vtkIPWCallback;
}
virtual void Execute(vtkObject *caller, unsigned long, void*)
{
vtkImplicitPlaneWidget2 *planeWidget =
reinterpret_cast<vtkImplicitPlaneWidget2*>(caller);
vtkImplicitPlaneRepresentation *rep =
reinterpret_cast<vtkImplicitPlaneRepresentation*>(planeWidget->GetRepresentation());
rep->GetPlane(this->Plane);
}

vtkIPWCallback() :Plane(0), Actor(0) {}
vtkPlane *Plane;
vtkActor *Actor;

};
    //!!!!!!!!!!!!!!!!!!!!超重要的两句，设置viewer的（试了很久才出来的）

    ui.qvtkWidget->SetRenderWindow(renderWindow);

    viewer->setupInteractor(renderWindowInteractor, renderWindow);
void initial()
{
//添加cloud和viewer
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
     boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
//初始化
  cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
viewer->addPointCloud(cloud, "cloud");
//初始化vtk
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
ui.qvtkWidget->update();
}

int planeCut()
{
//input data
points = vtkSmartPointer<vtkPoints>::New();//添加点集
sourcePolyData = vtkSmartPointer<vtkPolyData>::New();//添加数据
glyphFilter = vtkSmartPointer<vtkVertexGlyphFilter>::New();//过滤器
plane = vtkSmartPointer<vtkPlane>::New();//切割平面
clipper = vtkSmartPointer<vtkClipPolyData>::New();//
mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); //映射器，可以根据点、线、面构造图形
actor = vtkSmartPointer<vtkActor>::New();//
backFaces = vtkSmartPointer<vtkProperty>::New();
renderer = vtkSmartPointer<vtkRenderer>::New();//绘制器，能够绘制物体
renderWindow = vtkSmartPointer<vtkRenderWindow>::New();//绘制窗，提供绘制的平面
renderWindowInteractor = vtkSmartPointer<vtkRenderWindowInteractor>::New();//交互器

//!!!!!!!!!!!!!!!!!!!!超重要的两句，设置viewer的
ui.qvtkWidget->SetRenderWindow(renderWindow);
viewer->setupInteractor(renderWindowInteractor, renderWindow);
//点云数据输入
for (size_t i = 0; i < cloud->points.size(); i++)
{
points->InsertNextPoint(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
}
sourcePolyData->SetPoints(points);

#if VTK_MAJOR_VERSION <= 5
glyphFilter->SetInputConnection(polyData->GetProducerPort());
#else
glyphFilter->SetInputData(sourcePolyData); //完成点的传递
#endif
glyphFilter->Update();

 //裁剪设置
clipper->SetClipFunction(plane);
clipper->InsideOutOn();
clipper->SetInputConnection(glyphFilter->GetOutputPort());
clipper->Update();

// 映射和动作
mapper->SetInputConnection(clipper->GetOutputPort());
actor->SetMapper(mapper);
backFaces->SetDiffuseColor(0.8275, 0.8275, 0.8275);
actor->SetBackfaceProperty(backFaces);

// 绘制窗口
renderWindow->AddRenderer(renderer);
renderer->AddActor(actor);

//交互器
renderWindowInteractor->SetRenderWindow(renderWindow);
renderWindow->Render();

// 回调
vtkSmartPointer<vtkIPWCallback> myCallback =
vtkSmartPointer<vtkIPWCallback>::New();
myCallback->Plane = plane;
myCallback->Actor = actor;

//提前于planewidget设置
vtkSmartPointer<vtkImplicitPlaneRepresentation> rep =
vtkSmartPointer<vtkImplicitPlaneRepresentation>::New();
rep->SetPlaceFactor(1.25);
rep->PlaceWidget(actor->GetBounds());
rep->SetNormal(plane->GetNormal());
rep->SetOrigin(0, 0, 0);

vtkSmartPointer<vtkImplicitPlaneWidget2> planeWidget =
vtkSmartPointer<vtkImplicitPlaneWidget2>::New();
planeWidget->SetInteractor(renderWindowInteractor);
planeWidget->SetRepresentation(rep);
planeWidget->AddObserver(vtkCommand::InteractionEvent, myCallback); //对观察到的事件响应

// 绘制
renderWindowInteractor->Initialize();
renderWindow->Render();
planeWidget->On();

// 鼠标交互
renderWindowInteractor->Start();

//过滤被裁剪部分
    ////////////////////////////////////////
    vtkSmartPointer<vtkIdFilter> cellIdFilter =
        vtkSmartPointer<vtkIdFilter>::New();
    cellIdFilter->SetInputConnection(clipper->GetOutputPort());
    cellIdFilter->SetCellIds(true);
    cellIdFilter->SetPointIds(false);
    cellIdFilter->SetIdsArrayName("CellIds");
    cellIdFilter->Update();

    //将过滤部分保存ply
    //////////////////////////////////////////////////////////////////
    vtkSmartPointer<vtkPLYWriter> writer = vtkSmartPointer<vtkPLYWriter>::New();
    std::string filename = "temp/mesh.ply";
#if VTK_MAJOR_VERSION <= 5
    writer->SetInput(dataSet);
#else
    writer->SetInputData(cellIdFilter->GetOutput());
#endif
    writer->SetFileName(filename.c_str());
    writer->Write();
    

//格式转换，先将ply转为vtk，再转vtk为pcd

    pcl::PolygonMesh mesh;

    vtkSmartPointer<vtkPolyData> poly = vtkSmartPointer<vtkPolyData>::New();

    pcl::io::loadPolygonFilePLY("temp/mesh.ply", mesh);

    pcl::io::mesh2vtk(mesh, poly);

    pcl::io::vtkPolyDataToPointCloud(poly, *cloud);

    viewer->updatePointCloud(cloud, "cloud");

    ui.qvtkWidget->update();

    //更新上一步剪切的数据为新的input

    glyphFilter->SetInputData(poly);

    glyphFilter->Update();return EXIT_SUCCESS;}