PCL拾取屏幕上三维点坐标

PCL中通过注册回调函数实现点云坐标选取。主要使用的函数：
registerPointPickingCallback()
PCL官方代码：
http://www.pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php

主要实现代码如下：

#include <pcl\io\pcd_io.h>
#include <pcl\point_cloud.h>
#include <pcl\point_types.h>
#include <pcl\visualization\pcl_visualizer.h>
boost::mutex cloud_mutex;

//定义回调参数结构体
struct callback_args{
   // structure used to pass arguments to the callback function
   PointCloudT::Ptr clicked_points_3d;
   pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};

// 回调处理事件这里是点选取事件
void pp_callback(const pcl::visualization::PointPickingEvent& event, void *args)
{
   struct callback_args * data = (struct callback_args *)args;//点云数据 & 可视化窗口
   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);
   //Draw clicked points in red:
   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;

}

void main()
{
   std::string filename("bunny_source.pcd");
   //visualizer
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
   pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("viewer"));

   if (pcl::io::loadPCDFile(filename, *cloud))
   {
       std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;
       return;
   }
   std::cout << cloud->points.size() << std::endl;

cloud_mutex.lock(); // for not overwriting the point cloud

   // Display pointcloud:
   viewer->addPointCloud(cloud, "bunny_source");
   viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);

   // Add point picking callback to viewer:
   struct callback_args 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(pp_callback, (void*)&cb_args);

std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;

   // Spin until 'Q' is pressed:
   viewer->spin();
   std::cout << "done." << std::endl;

cloud_mutex.unlock();

   while (!viewer->wasStopped())
   {
       viewer->spinOnce(100);
       boost::this_thread::sleep(boost::posix_time::microseconds(100000));
   }
}

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来源：CSDN

作者：Allure_Allure

链接：https://blog.csdn.net/Allure392491308/article/details/103455896

标签

pcl