参考1：http://m.blog.csdn.net/article/details?id=51338298
框选顶点参考了文章1，本文所有代码如下：
#include <pcl/io/pcd_io.h> #include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> #include <iostream> #include <vector> using namespace std; 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; std::vector< int> totalIndices; bool myfind(int temp1,const vector<int>& temp) { for (int i = 0; i < temp.size(); i++) { if (temp1 == temp[i]) return true; } return false; } void pp_callback(const pcl::visualization::AreaPickingEvent& event, void* args) { std::vector< int > indices; if (event.getPointsIndices(indices) == -1) return; for (int i = 0; i < indices.size(); ++i) { clicked_points_3d->points.push_back(cloud->points.at(indices[i])); totalIndices.push_back(indices[i]); } pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(clicked_points_3d, 255, 0, 0) std::stringstream ss; std::string cloudName; ss << num++; ss >> cloudName; cloudName += "_cloudName"; viewer->addPointCloud(clicked_points_3d, red, cloudName); viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName); } void main() { if (pcl::io::loadPCDFile("ism_train_wolf.pcd", *cloud)) { std::cerr << "ERROR: Cannot open file " << std::endl; return; } viewer->addPointCloud(cloud, "test"); viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0); viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud); int i = 0; while (!viewer->wasStopped()) { if (i < 60) { viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); i++; //print(); } else break; //print(); } ②框选（要移除）的点云存在另外一个窗口viewer2中： //boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer2(new pcl::visualization::PCLVisualizer("viewer2")); //pcl::PointCloud<pcl::PointXYZ>::Ptr OUTcloud(new pcl::PointCloud<pcl::PointXYZ>()); //pcl::copyPointCloud(*cloud, totalIndices, *OUTcloud); //viewer2->addPointCloud(OUTcloud, "test2"); //viewer2->setCameraPosition(0, 0, -2, 0, -1, 0, 0); //while (!viewer2->wasStopped()) //{ // viewer2->spinOnce(100); // boost::this_thread::sleep(boost::posix_time::microseconds(100000)); //} ③移除后剩余的点云存在另外一个窗口viewer3中: vector<int>FINALIndices; for (int i = 0; i < 3400; i++) { if (myfind(i, totalIndices) == false) FINALIndices.push_back(i); } boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer3(new pcl::visualization::PCLVisualizer("viewer3")); pcl::PointCloud<pcl::PointXYZ>::Ptr FINALcloud(new pcl::PointCloud<pcl::PointXYZ>()); pcl::copyPointCloud(*cloud, FINALIndices, *FINALcloud); viewer3->addPointCloud(FINALcloud, "test3"); viewer3->setCameraPosition(0, 0, -2, 0, -1, 0, 0); while (!viewer3->wasStopped()) { viewer3->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } }
在窗口1中，先按x键，开始（/结束）框选模式。（按R键可以把视点 移到物体（狼）的中心）然后框选要删除的点（显示为红色）。选好后，在窗口3显示剩余的点，效果如图（删掉了狼的尾巴）：
在本文基础上，很容易可以继续完善其他功能（比如框选后按其他键删除重新框选，加入按S键保存成pcd等）。
