鼠标响应操作-7

奥比中光深度相机获取鼠标点击处三维坐标

以下内容是在下载对应SDK上直接添加代码。

 

一、代码部分

（1）下载对应平台的SDK

在DeepReaderEvevt.cpp输出拍摄到的图像的中心点的深度值，图像中心点深度值索引如下所示。深度值以数组形式存储，按行扫描。

int middleIndex = (frame.getHeight() + 1)*frame.getWidth() / 2;

 （2）在SimpleViewer中添加自己需要的代码

在SimpleViewer中将深度图与彩色图对齐，0为硬件对齐，1为软件对齐，2为默认不对齐。在获取深度流之后获取其深度值信息。

int nRet = pD2CSwapper->GetStreamData(cv_rgb, cv_depth);
DepthPixel* pDepth; 
pDepth = (DepthPixel*)cv_depth.data;

在图像显示框下利用cvSetMouseCallback（）函数

mDraw.ShowImagesSideBySide(_winTitle, imgsOne, "", 10, 450); 
			
cvSetMouseCallback("SimpleViewer", onMouse, pDepth);

 定义鼠标回调函数

// opencv鼠标点击输出像素坐标
int onMouse(int event, int x, int y, int flags, void* param)
{
	if (event == CV_EVENT_LBUTTONDOWN)
	{
		int d;
		DepthPixel* pDepth; 
		pDepth = (DepthPixel*)param;
		
		d = y * 640 + x - 1;  // 鼠标点击点对应深度值的索引
		printf("(%d,%d,%d)\n", x, y, pDepth[d]);
		return 0;
		
	}
}

 结果如图：

点击配准后的图像可输出三维坐标，展示的图片截掉了图像，只放了显示三维坐标的图片。

二、相关知识 

（1） cvSetMouseCallback，注册一个回调函数。cvSetMouseCallback(“TestWin”, TestCallBack, Context)，第一个参数是创建的显示框窗口的名字，第二个参数是回调函数，第三个参数会作为参数传递给回调函数，可以在主进程与回调函数之间交换上下文。

（2）鼠标回调函数功能需要自己开发，原型为：

void OnMouse(int event, int x, int y, int flags, void* param);

第一个参数为鼠标事件：

//! Mouse Events see cv::MouseCallback
enum MouseEventTypes {
       EVENT_MOUSEMOVE      = 0, //!< indicates that the mouse pointer has moved over the window.
       EVENT_LBUTTONDOWN    = 1, //!< indicates that the left mouse button is pressed.
       EVENT_RBUTTONDOWN    = 2, //!< indicates that the right mouse button is pressed.
       EVENT_MBUTTONDOWN    = 3, //!< indicates that the middle mouse button is pressed.
       EVENT_LBUTTONUP      = 4, //!< indicates that left mouse button is released.
       EVENT_RBUTTONUP      = 5, //!< indicates that right mouse button is released.
       EVENT_MBUTTONUP      = 6, //!< indicates that middle mouse button is released.
       EVENT_LBUTTONDBLCLK  = 7, //!< indicates that left mouse button is double clicked.
       EVENT_RBUTTONDBLCLK  = 8, //!< indicates that right mouse button is double clicked.
       EVENT_MBUTTONDBLCLK  = 9, //!< indicates that middle mouse button is double clicked.
       EVENT_MOUSEWHEEL     = 10,//!< positive and negative values mean forward and backward scrolling, respectively.
       EVENT_MOUSEHWHEEL    = 11 //!< positive and negative values mean right and left scrolling, respectively.
     };

第二个和第三个参数表示当前鼠标位置，此时的鼠标位置是相对于“图像”的，不是屏幕也不是显示框。

第四个参数flags是EVENT_FLAG的组合

//! Mouse Event Flags see cv::MouseCallback
enum MouseEventFlags {
       EVENT_FLAG_LBUTTON   = 1, //!< indicates that the left mouse button is down.
       EVENT_FLAG_RBUTTON   = 2, //!< indicates that the right mouse button is down.
       EVENT_FLAG_MBUTTON   = 4, //!< indicates that the middle mouse button is down.
       EVENT_FLAG_CTRLKEY   = 8, //!< indicates that CTRL Key is pressed.
       EVENT_FLAG_SHIFTKEY  = 16,//!< indicates that SHIFT Key is pressed.
       EVENT_FLAG_ALTKEY    = 32 //!< indicates that ALT Key is pressed.
     };

第五个参数，void* param可接收来自cvSetMouseCallback（）传递而来的数据。

相关参考：

OpenCV用鼠标获取坐标位置_牧羊女说的博客-CSDN博客_opencv鼠标移动获取坐标