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我有一个软件，我从点云地图中选择 5 个点，如下所示：

void Visualizer::pointPickingEventOccurred (const pcl::visualization::PointPickingEvent &event)
 {
    std::cout << "[INOF] Point picking event occurred." << std::endl;

      float x, y, z;
      if (event.getPointIndex () == -1)
      {
         return;
      }
      event.getPoint(x, y, z);
      std::cout << "[INOF] Point coordinate ( " << x << ", " << y << ", " << z << ")" << std::endl;
      points->InsertNextPoint(x, y, z);


 }

这样做之后，我通过按下按钮使用 vtkPolyLine 和 3DGlyph 在点之间绘制一条线：

void Visualizer::drawLine(){

    // Create one sphere for all
    sphere->SetPhiResolution(21);
    sphere->SetThetaResolution(21);
    sphere->SetRadius(.08);

    vtkNew<vtkNamedColors> colors;


    vtkNew<vtkPolyLine> polyLine;
    polyLine->GetPointIds()->SetNumberOfIds(5);
    for (unsigned int i = 0; i < 5; i++)
    {
      polyLine->GetPointIds()->SetId(i, i);
    }

    // Create a cell array to store the lines in and add the lines to it
    vtkNew<vtkCellArray> cells;
    cells->InsertNextCell(polyLine);

    // Create a polydata to store everything in
    vtkNew<vtkPolyData> polyData;

    // Add the points to the dataset
    polyData->SetPoints(points);

    // Add the lines to the dataset
    polyData->SetLines(cells);

    // Create cells
    vtkSmartPointer<vtkUnstructuredGrid> ug = vtkSmartPointer<vtkUnstructuredGrid>::New();
    ug->SetPoints(points);
    ug->InsertNextCell(polyLine->GetCellType(), polyLine->GetPointIds());

    // Label the points
    vtkSmartPointer<vtkLabeledDataMapper> labelMapper = vtkSmartPointer<vtkLabeledDataMapper>::New();
    labelMapper->SetInputData(ug);
    vtkSmartPointer<vtkActor2D> labelActor = vtkSmartPointer<vtkActor2D>::New();
    labelActor->SetMapper(labelMapper);
    viewer->addActorToRenderer(labelActor);


    // Glyph the points
    vtkSmartPointer<vtkGlyph3DMapper> pointMapper = vtkSmartPointer<vtkGlyph3DMapper>::New();
    pointMapper->SetInputData(ug);
    pointMapper->SetSourceConnection(sphere->GetOutputPort());
    pointMapper->ScalingOff();
    pointMapper->ScalarVisibilityOff();

    vtkSmartPointer<vtkActor> pointActor = vtkSmartPointer<vtkActor>::New();
    pointActor->SetMapper(pointMapper);
    pointActor->GetProperty()->SetDiffuseColor(colors->GetColor3d("Banana").GetData());
    pointActor->GetProperty()->SetSpecular(.6);
    pointActor->GetProperty()->SetSpecularColor(1.0, 1.0, 1.0);
    pointActor->GetProperty()->SetSpecularPower(100);
    viewer->addActorToRenderer(pointActor);

    // Setup actor and mapper
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);

    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
    actor->GetProperty()->SetColor(colors->GetColor3d("Tomato").GetData());
    actor->GetProperty()->EdgeVisibilityOn();
    actor->GetProperty()->SetLineWidth(5);
    actor->GetProperty()->SetOpacity(.5);

   viewer->addActorToRenderer(actor);

}

创建线后，我显然无法创建另一条线，因为pointslist 仍然具有先前点的值。

我试图清空“drawline”函数末尾的点列表：

vtkSmartPointer<vtkPoints> newPoints =
    vtkSmartPointer<vtkPoints>::New();

  for(vtkIdType i = 0; i < points->GetNumberOfPoints(); i++)
    {
    if(i != id)
      {
      double p[3];
      points->GetPoint(i,p);
      newPoints->InsertNextPoint(p);
      }
    }

  points->ShallowCopy(newPoints);

但我仍然无法创建另一条线

4

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