Installation
Code
main.cpp
#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
using PointT = pcl::PointXYZRGB;
using PointCloudT = pcl::PointCloud<PointT>;
// 用于将参数传递给回调函数的结构体
struct CallbackArgs {
PointCloudT::Ptr clicked_points_3d;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
void pickPointCallback(const pcl::visualization::PointPickingEvent &event, void *args) {
CallbackArgs *data = (CallbackArgs *) args;
if (event.getPointIndex() == -1)
return;
PointT current_point;
event.getPoint(current_point.x, current_point.y, current_point.z);
data->clicked_points_3d->points.push_back(current_point);
// 绘制红色点
pcl::visualization::PointCloudColorHandlerCustom<PointT> red(data->clicked_points_3d, 255, 0, 0);
data->viewerPtr->removePointCloud("clicked_points");
data->viewerPtr->addPointCloud(data->clicked_points_3d, red, "clicked_points");
data->viewerPtr->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10,
"clicked_points");
std::cout << current_point.x << " " << current_point.y << " " << current_point.z << std::endl;
}
int main() {
std::string file_name("point_cloud_PCD_23685214_1080_06-04-2021-16-34-45.pcd");
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
// pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("viewer"));
// 加载点云
if (pcl::io::loadPCDFile(file_name, *cloud) == -1) {
std::cerr << "could not load file: " << file_name << std::endl;
}
std::cout << "size: " << cloud->points.size() << std::endl;
// 显示点云
// 显示为热力图 打开pcl::PointCloud<pcl::PointXYZ>...
// pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z");
// viewer->addPointCloud(cloud, fildColor, "cloud");
// 显示原rgb数据
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud(cloud, "cloud");
// 显示坐标轴方向，X（红色）Y（绿色 ）Z （蓝色）
viewer->addCoordinateSystem(1.0);
// 通过设置照相机参数使得从默认的角度和方向观察点云
// viewer->initCameraParameters ();
// viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
// 添加点拾取回调函数
CallbackArgs cb_args;
PointCloudT::Ptr clicked_points_3d(new PointCloudT);
cb_args.clicked_points_3d = clicked_points_3d;
cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(viewer);
viewer->registerPointPickingCallback(pickPointCallback, (void*)&cb_args);
std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
viewer->spin();
std::cout << "done." << std::endl;
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
}
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
# Enable C++11
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
# Define project name
project(PclCallbackPoint)
# PCL
find_package(PCL REQUIRED)
# Find OpenCV
find_package(OpenCV REQUIRED)
# Add includes
include_directories( ${OpenCV_INCLUDE_DIRS} )
include_directories( ${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
# Declare the executable target built from your sources
add_executable(PclCallbackPoint main.cpp)
# Link your application with other libraries
target_link_libraries(PclCallbackPoint ${PCL_LIBRARIES} ${OpenCV_LIBS})
Use
mkdir build
cd build
cmake ..
make
# 有point_cloud_PCD_23685214_1080_06-04-2021-16-34-45.pcd的目录执行
cd ..
./build/PclCallbackPoint
参考
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