1 原理
PCL中通过注册回调函数registerPointPickingCallback来实现点云的三维坐标选取。
2 代码
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
// Mutex: //进程锁
boost::mutex cloud_mutex;
//用于给回调函数的结构体定义
// structure used to pass arguments to the callback function
struct callback_args
{
PointCloudT::Ptr clicked_points_3d;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
//回调函数
void pp_callback(const pcl::visualization::PointPickingEvent& event, void* args)
{
struct callback_args* data = (struct callback_args *)args;
if (event.getPointIndex() == -1)
return;
PointT current_point;
event.getPoint(current_point.x, current_point.y, current_point.z);
//TODO
data->clicked_points_3d->clear();//将上次选的点清空
data->clicked_points_3d->points.push_back(current_point);//添加新选择的点
// Draw clicked points in red:将选中点用红色标记
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("rabbit.pcd");
//visualizer,定义可视化窗口
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
//读取点云数据
if (pcl::io::loadPCDFile(filename, *cloud))
{
std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;
return;
}
std::cout << cloud->points.size() << std::endl;
// for not overwriting the point cloud
//获得互斥体,期间不能修改点云
cloud_mutex.lock();
// Display pointcloud:
//显示点云
viewer->addPointCloud(cloud, "rabbit");
//viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0); //设置相机位置
// Add point picking callback to viewer:
//可视化窗口执行回调函数
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);
//注册屏幕选点事件
viewer->registerPointPickingCallback(pp_callback, (void*)&cb_args);
//Shfit+鼠标左键选择点
std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
// Spin until 'Q' is pressed:
//摁“Q”键结束
viewer->spin();
std::cout << "done." << std::endl;
//释放互斥体
cloud_mutex.unlock();
while (!viewer->wasStopped())
{
viewer->spinOnce(100); //100??
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
3 结果
4 存在问题
4.1 点云的坐标系是什么坐标系?
4.2 为什么坐标数值差别那么小?