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CloudCompare中手动点云分割功能ccGraphicalSegmentationTool，文章来源地址:https://www.yii666.com/article/756264.html
点击应用按钮后将现有的点云分成segmented和remaining两个点云，
//停用点云分割功能
void MainWindow::deactivateSegmentationMode(bool state)
是通过ccPointCloud的可视选择集来实现的。其中用到了点云的swap需要参考！
//创建新的点云，可视的选择集
ccGenericPointCloud* ccPointCloud::createNewCloudFromVisibilitySelection(bool removeSelectedPoints)
{
if (!isVisibilityTableInstantiated())
{
ccLog::Error(QString("[Cloud %1] Visibility table not instantiated!").arg(getName()));
return 0;
} //we create a new cloud with the "visible" points
ccPointCloud* result = 0;
{
//we create a temporary entity with the visible points only
CCLib::ReferenceCloud* rc = getTheVisiblePoints();
if (!rc)
{
//a warning message has already been issued by getTheVisiblePoints!
//ccLog::Warning("[ccPointCloud::createNewCloudFromVisibilitySelection] An error occurred during points selection!");
return 0;
}
assert(rc->size() != 0); //convert selection to cloud
result = partialClone(rc); //don't need this one anymore
delete rc;
rc = 0;
} if (!result)
{
ccLog::Warning("[ccPointCloud::createNewCloudFromVisibilitySelection] An error occurred during segmentation!");
return 0;
} result->setName(getName()+QString(".segmented"));//切割出来的点云 //shall the visible points be erased from this cloud?
if (removeSelectedPoints && !isLocked())
{
//we drop the octree before modifying this cloud's contents
deleteOctree();
clearLOD(); unsigned count = size(); //we have to take care of scan grids first
{
//we need a map between old and new indexes
std::vector<int> newIndexMap(size(), -1);
{
unsigned newIndex = 0;
for (unsigned i=0; i<count; ++i)
{
if (m_pointsVisibility->getValue(i) != POINT_VISIBLE)
newIndexMap[i] = newIndex++;
}
} //then update the indexes
UpdateGridIndexes(newIndexMap, m_grids); //and reset the invalid (empty) ones
//(DGM: we don't erase them as they may still be useful?)
for (size_t i=0; i<m_grids.size(); ++i)
{
Grid::Shared& scanGrid = m_grids[i];
if (scanGrid->validCount == 0)
{
scanGrid->indexes.clear();
}
}
} //we remove all visible points
unsigned lastPoint = 0;
for (unsigned i=0; i<count; ++i)
{
//i持续增长，而lastPoint遇到==POINT_VISIBLE则跳过，起到迁移的效果
if (m_pointsVisibility->getValue(i) != POINT_VISIBLE)
{
if (i != lastPoint)
swapPoints(lastPoint,i);
++lastPoint;
}
} //TODO: handle associated meshes resize(lastPoint); refreshBB(); //calls notifyGeometryUpdate + releaseVBOs
} return result;
}
调用的方法getTheVisiblePoints()文章地址https://www.yii666.com/article/756264.html网址:yii666.com
CCLib::ReferenceCloud* ccGenericPointCloud::getTheVisiblePoints() const
{
unsigned count = size();
assert(count == m_pointsVisibility->currentSize()); if (!m_pointsVisibility || m_pointsVisibility->currentSize() != count)
{
ccLog::Warning("[ccGenericPointCloud::getTheVisiblePoints] No visibility table instantiated!");
return 0;
} //count the number of points to copy
unsigned pointCount = 0;
{
for (unsigned i=0; i<count; ++i)
if (m_pointsVisibility->getValue(i) == POINT_VISIBLE)
++pointCount;
} if (pointCount == 0)
{
ccLog::Warning("[ccGenericPointCloud::getTheVisiblePoints] No point in selection");
return 0;
} //we create an entity with the 'visible' vertices only
CCLib::ReferenceCloud* rc = new CCLib::ReferenceCloud(const_cast<ccGenericPointCloud*>(this));
if (rc->reserve(pointCount))
{
for (unsigned i=0; i<count; ++i)
if (m_pointsVisibility->getValue(i) == POINT_VISIBLE)
rc->addPointIndex(i); //can't fail (see above)
}
else
{
delete rc;
rc = 0;
ccLog::Error("[ccGenericPointCloud::getTheVisiblePoints] Not enough memory!");
} return rc;
}