PCL 中pcl::visualization::PCLVisualizer类有定义鼠标和键盘事件,
分别是:
boost::signals2::connection registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
boost::signals2::connection registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=NULL)
template<typename T >
boost::signals2::connection registerKeyboardCallback (void(T::*callback)(const pcl::visualization::KeyboardEvent &, void *), T &instance, void *cookie=NULL)
boost::signals2::connection registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
boost::signals2::connection registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL)
template<typename T >
boost::signals2::connection registerMouseCallback (void(T::*callback)(const pcl::visualization::MouseEvent &, void *), T &instance, void *cookie=NULL)
boost::signals2::connection registerPointPickingCallback (boost::function< void(const pcl::visualization::PointPickingEvent &)> cb)
boost::signals2::connection registerPointPickingCallback (void(*callback)(const pcl::visualization::PointPickingEvent &, void *), void *cookie=NULL)
template<typename T >
boost::signals2::connection registerPointPickingCallback (void(T::*callback)(const pcl::visualization::PointPickingEvent &, void *), T &instance, void *cookie=NULL)
可以看到同一个函数名有不同的表现形式。函数重载;
如果要在Qt中使用的话就要用到:
template<typename T >
boost::signals2::connection registerKeyboardCallback (void(T::*callback)(const pcl::visualization::KeyboardEvent &, void *), T &instance, void *cookie=NULL)
这里就是牵扯到一个问题就是类的成员函数要作为回调函数的问题,但是PCL库已经很明确的有类型了,所以我们只需要调用就行了。参考:https://stackoverflow.com/questions/14267895/error-with-callback-function?answertab=active#tab-top
viewer->registerKeyboardCallback(&MainWindow::mouseEventOccurred,*this,(void*)&viewer);
我是按照这种方式调用的,但是会有错误:
mainwindow.cpp:233: error: no matching function for call to ‘pcl::visualization::PCLVisualizer::registerKeyboardCallback(void (MainWindow::*)(const pcl::visualization::MouseEvent&, void*), MainWindow&, void*)’
viewer->registerKeyboardCallback(&MainWindow::mouseEventOccurred,*this,(void*)&viewer);
这种错误说明我的函数调用的方式不对,
https://ask.csdn.net/questions/236159
最终找到了问题所在:
由于自己的疏忽:
最终的解决方案:
viewer->registerKeyboardCallback(&MainWindow::keyboardEventOccurred,*this, (void*)&viewer);
^