[CC]手动点云分割

CloudCompare中手动点云分割功能ccGraphicalSegmentationTool，

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！

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//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()

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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; }