高级功能:设置回掉函数进行交互、显示区域分割
按键事件:按a使图像显示和消失
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
// 包含相关头文件
// This function displays the help
void showHelp(char* program_name)
{
std::cout << std::endl;
std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
std::cout << "-h or --help : Show help." << std::endl;
}
// 回掉函数所用数据结构
struct callback_args
{
bool* isShow;
pcl::PointCloud<pcl::PointXYZ>::Ptr orgin_points;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
// 按键事件回掉函数
void kb_callback(const pcl::visualization::KeyboardEvent& event, void* args)
{
if (event.keyDown() && event.getKeyCode() == 'a')
{
std::cout << "a has pressed" << std::endl;
struct callback_args* data = (struct callback_args*)args;
if (*(data->isShow))
{
data->viewerPtr->removePointCloud("cloud");
*(data->isShow) = false;
std::cout << "remove" << std::endl;
}
else {
data->viewerPtr->addPointCloud(data->orgin_points, "cloud");
*(data->isShow) = true;
std::cout << "add" << std::endl;
}
}
}
int main(int argc, char** argv)
{
// Show help
if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
std::cout << "没有help." << std::endl;
return 0;
}
// Fetch point cloud filename in arguments | Works with PCD and PLY files
std::vector<int> filenames;
bool file_is_pcd = false;
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");
if (filenames.size() != 1) {
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".pcd");
if (filenames.size() != 1) {
showHelp(argv[0]);
return -1;
}
else {
file_is_pcd = true;
}
}
// Load file | Works with PCD and PLY files
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
if (file_is_pcd) {
if (pcl::io::loadPCDFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}
else {
if (pcl::io::loadPLYFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}//load cloud
//---------------------------------------------------------------------------------
pcl::console::print_highlight("load cloud !\n");
// 定义对象
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
viewer->addPointCloud(cloud, "cloud");
// 初始化参数
bool isShow = true;
struct callback_args kb_args;
kb_args.isShow = &isShow;
kb_args.orgin_points = cloud;
kb_args.viewerPtr = viewer;
// 设置回掉函数
viewer->registerKeyboardCallback(kb_callback, (void*)&kb_args);
// 1. 阻塞式
viewer->spin();
//system("pause");//不注释,命令行会提示按任意键继续,注释会直接跳出
return 0;
}
点选取事件:只是显示一个更显眼的点覆盖原来的点
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
// 包含相关头文件
// This function displays the help
void showHelp(char* program_name)
{
std::cout << std::endl;
std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
std::cout << "-h or --help : Show help." << std::endl;
}
// 回掉函数所用数据结构
struct callback_args
{
// structure used to pass arguments to the callback function
pcl::PointCloud<pcl::PointXYZ>::Ptr clicked_points_3d;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
void pp_callback(const pcl::visualization::PointPickingEvent& event, void* args)
{
struct callback_args* data = (struct callback_args*)args;
if (event.getPointIndex() == -1)
return;
int index = event.getPointIndex();
std::cout << "index: " << index << std::endl;
pcl::PointXYZ 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<pcl::PointXYZ> 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;
}
int main(int argc, char** argv)
{
// Show help
if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
std::cout << "没有help." << std::endl;
return 0;
}
// Fetch point cloud filename in arguments | Works with PCD and PLY files
std::vector<int> filenames;
bool file_is_pcd = false;
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");
if (filenames.size() != 1) {
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".pcd");
if (filenames.size() != 1) {
showHelp(argv[0]);
return -1;
}
else {
file_is_pcd = true;
}
}
// Load file | Works with PCD and PLY files
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
if (file_is_pcd) {
if (pcl::io::loadPCDFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}
else {
if (pcl::io::loadPLYFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}//load cloud
pcl::console::print_highlight("load cloud\n");
pcl::visualization::PCLVisualizer viewer;
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> green(cloud, 0, 255, 0);
viewer.addPointCloud(cloud, green, "cloud");
// Add point picking callback to viewer:
struct callback_args cb_args;
pcl::PointCloud<pcl::PointXYZ>::Ptr clicked_points_3d(new pcl::PointCloud<pcl::PointXYZ>);
cb_args.clicked_points_3d = clicked_points_3d;
cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(&viewer);
viewer.registerPointPickingCallback(pp_callback, (void*)&cb_args);
pcl::console::print_highlight("Shift+click on three floor points, then press 'Q'...\n");
// Spin until 'Q' is pressed:
viewer.spin();
//system("pause");//不注释,命令行会提示按任意键继续,注释会直接跳出
return 0;
}
区域选取事件
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
// 包含相关头文件
// This function displays the help
void showHelp(char* program_name)
{
std::cout << std::endl;
std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
std::cout << "-h or --help : Show help." << std::endl;
}
// 回掉函数所用数据结构
struct callback_args {
// structure used to pass arguments to the callback function
pcl::PointCloud<pcl::PointXYZ>::Ptr orgin_points;
pcl::PointCloud<pcl::PointXYZ>::Ptr chosed_points_3d;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
void ap_callback(const pcl::visualization::AreaPickingEvent& event, void* args)
{
struct callback_args* data = (struct callback_args*)args;
std::vector<int> indiecs;
if (!event.getPointsIndices(indiecs))
return;
for (int i = 0; i < indiecs.size(); ++i)
{
data->chosed_points_3d->push_back(data->orgin_points->points[indiecs[i]]);
}
// Draw clicked points in red:
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(data->chosed_points_3d, 255, 0, 0);
data->viewerPtr->removePointCloud("chosed_points");
data->viewerPtr->addPointCloud(data->chosed_points_3d, red, "chosed_points");
data->viewerPtr->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "chosed_points");
std::cout << "selected " << indiecs.size() << " points , now sum is " << data->chosed_points_3d->size() << std::endl;
}
int main(int argc, char** argv)
{
// Show help
if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
std::cout << "没有help." << std::endl;
return 0;
}
// Fetch point cloud filename in arguments | Works with PCD and PLY files
std::vector<int> filenames;
bool file_is_pcd = false;
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");
if (filenames.size() != 1) {
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".pcd");
if (filenames.size() != 1) {
showHelp(argv[0]);
return -1;
}
else {
file_is_pcd = true;
}
}
// Load file | Works with PCD and PLY files
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
if (file_is_pcd) {
if (pcl::io::loadPCDFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}
else {
if (pcl::io::loadPLYFile(argv[filenames[0]], *cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}//load cloud
//-----------------------------------------------
pcl::console::print_highlight("load cloud\n");
pcl::visualization::PCLVisualizer viewer;
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> green(cloud, 0, 255, 0);
viewer.addPointCloud(cloud, green, "cloud");
// Add point picking callback to viewer:
struct callback_args cb_args;
cb_args.orgin_points = cloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr chosed_points_3d(new pcl::PointCloud<pcl::PointXYZ>);
cb_args.chosed_points_3d = chosed_points_3d;
cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(&viewer);
viewer.registerAreaPickingCallback(ap_callback, (void*)&cb_args);
pcl::console::print_highlight("press x enter slected model, then press 'Q'...\n");
// Spin until 'Q' is pressed:
viewer.spin();
system("pause");//不注释,命令行会提示按任意键继续,注释会直接跳出
return 0;
}