（一）PCL中获取鼠标的位置，并进行显示

1、介绍

该功能主要示范点击鼠标左键，获取此刻鼠标的位置，并在控制台进行显示位置信息，并在显示界面显示一字符串。输入键盘上r，清空显示界面所有的字符

2、代码示例

#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace std;


unsigned int text_id = 0;
void mouseEventOccurred(const pcl::visualization::MouseEvent &event, void* viewer_void)
{
	pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void);
	if (event.getButton() == pcl::visualization::MouseEvent::LeftButton &&
		event.getType() == pcl::visualization::MouseEvent::MouseButtonRelease)
	{
		std::cout << "Left mouse button released at position (" << event.getX() << ", " << event.getY() << ")" << std::endl;

		char str[512];
		sprintf(str, "text#%03d", text_id++);
		viewer->addText("clicked here", event.getX(), event.getY(), str);
	}
}


void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event, void* viewer_void)
{
	pcl::visualization::PCLVisualizer *viewer = static_cast<pcl::visualization::PCLVisualizer *> (viewer_void);
	if (event.getKeySym() == "r" && event.keyDown())
	{
		std::cout << "r was pressed => removing all text" << std::endl;

		char str[512];
		for (unsigned int i = 0; i < text_id; ++i)
		{
			sprintf(str, "text#%03d", i);
			viewer->removeShape(str);
		}
		text_id = 0;
	}
}

int main(){
	//多数情况下，默认的鼠标和键盘交互设置不能满足用户的需求，用户想扩展函数的某一些功能，比如按下键盘时保存点云的信息，或者通过鼠标确定点云的位置，interactionCustomizationVis 函数进行演示如何捕捉鼠标和键盘事件，在窗口点击，将会显示一个2D的文本标签，按下r健出去文本


	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->initCameraParameters();
	//以上是实例化视窗的标准代码

	//分别注册响应键盘和鼠标事件，keyboardEventOccurred  mouseEventOccurred回调函数，需要将boost::shared_ptr强制转换为void*
	viewer->registerKeyboardCallback(keyboardEventOccurred, (void*)viewer.get());
	viewer->registerMouseCallback(mouseEventOccurred, (void*)viewer.get());

	while (!viewer->wasStopped())
	{

		viewer->spinOnce();
	}


	return 0;
}