[CC]Plugin-提取ISS3D关键点

基于CloudCompare开发的提取ISS3D关键点。

 void qLxPluginPCL::doISS3D()
 {
     assert(m_app);
     if (!m_app)
         return;

     const ccHObject::Container& selectedEntities = m_app->getSelectedEntities();
     size_t selNum = selectedEntities.size();
     if (selNum!=)
     {
         m_app->dispToConsole("Select only one cloud!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
         return;
     }

     ccHObject* ent = selectedEntities[];
     assert(ent);
     if (!ent || !ent->isA(CC_TYPES::POINT_CLOUD))
     {
         m_app->dispToConsole("Select a real point cloud!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
         return;
     }

     ccPointCloud* m_cc_cloud = static_cast<ccPointCloud*>(ent);

     //input cloud
     unsigned count = m_cc_cloud->size();
     bool hasNorms = m_cc_cloud->hasNormals();
     CCVector3 bbMin, bbMax;
     m_cc_cloud->getBoundingBox(bbMin,bbMax);
     const CCVector3d& globalShift = m_cc_cloud->getGlobalShift();
     double globalScale = m_cc_cloud->getGlobalScale();

     ccIss3Ddlg dlg;
     if (!dlg.exec())
         return;

     double s_SalientRadius=dlg.sbSalientRadius->value();
     double s_NonMaxRadius =dlg.spNonMaxRadius->value();
     double s_Threshold21 = dlg.spThreshold21->value();
     double s_Threshold32 = dlg.spThreshold32->value();

     pcl::PointCloud<PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<PointXYZ>);
     try
     {
         unsigned pointCount = m_cc_cloud->size();
         pcl_cloud->resize(pointCount);

         for (unsigned i = ; i < pointCount; ++i)
         {
             const CCVector3* P = m_cc_cloud->getPoint(i);
             pcl_cloud->at(i).x = static_cast<float>(P->x);
             pcl_cloud->at(i).y = static_cast<float>(P->y);
             pcl_cloud->at(i).z = static_cast<float>(P->z);
         }
     }
     catch(...)
     {
         //any error (memory, etc.)
         pcl_cloud.reset();
     }

     printf("读取了data点云数据：%d\n",pcl_cloud->size());

     pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());

     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out (new pcl::PointCloud<pcl::PointXYZ>);

     pcl::ISSKeypoint3D<pcl::PointXYZ,pcl::PointXYZ> iss_detector;
     iss_detector.setSearchMethod (tree);
     iss_detector.setSalientRadius(s_SalientRadius);
     iss_detector.setNonMaxRadius(s_NonMaxRadius);
     /*iss_detector.setSalientRadius(2.0f);
     iss_detector.setNonMaxRadius(1.6f);*/
     iss_detector.setInputCloud(pcl_cloud);
     /*iss_detector.setThreshold21 (0.975);
     iss_detector.setThreshold32 (0.975);*/
     iss_detector.setThreshold21 (s_Threshold21);
     iss_detector.setThreshold32 (s_Threshold32);
     iss_detector.setMinNeighbors ();
     iss_detector.setNumberOfThreads ();
     cout<<"parameter set successful"<<endl;
     iss_detector.compute(*cloud_out);

     int pointCount = cloud_out->size();

     //static_cast<size_t>(sm_cloud ? sm_cloud->width * sm_cloud->height : 0);

     ccPointCloud* ccCloud =new ccPointCloud();
     if (!ccCloud->reserve(static_cast<unsigned>(pointCount)))
         return ;
     for (size_t i = ; i < pointCount; ++i)
     {
         CCVector3 P(cloud_out->at(i).x,cloud_out->at(i).y,cloud_out->at(i).z);
         ccCloud->addPoint(P);
     }
     ccCloud->setName(QString("ISS3D"));
     ccColor::Rgb col = ccColor::Generator::Random();
     ccCloud->setRGBColor(col);
     ccCloud->showColors(true);
     ccCloud->setPointSize();
     ccHObject* group = ;
     if (!group)
         group = new ccHObject(QString("ISS3D").arg(ent->getName()));
     group->addChild(ccCloud);
     group->setVisible(true);
     m_app->addToDB(group);
 }

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