PCL使用类成员函数作为pclvisualizer的回调函数

参考链接

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace pcl; 

class dummyClass{ 

public: 
    dummyClass(); 
    ~dummyClass(){}; 

    void keyboardEventOccurred (const visualization::KeyboardEvent &event, void* junk); 

    pcl::PointXYZ randomPoint(); 

    void spin(); 

private: 
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer; 
    pcl::PointCloud<pcl::PointXYZ>::Ptr pc; 
}; 

dummyClass::dummyClass(){ 
    // Create viewer 
    viewer.reset(new pcl::visualization::PCLVisualizer ("3D Viewer")); 
    viewer->addCoordinateSystem(1); 
    viewer->addText("Press r to add a random point", 30, 10, 15, 1.0f,0.0f,0.0f,"text"); 

    // Create cloud 
    pc.reset(new pcl::PointCloud<pcl::PointXYZ>()); 
    pc->push_back(randomPoint()); 
    viewer->addPointCloud(pc,"cloud"); 
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5,"cloud"); 

    // Register Keyboard Event 
    viewer->registerKeyboardCallback(&dummyClass::keyboardEventOccurred,*this); 
}; 

void dummyClass::keyboardEventOccurred (const visualization::KeyboardEvent &event, void* junk){ 
    if (event.getKeySym() == "r" && event.keyDown()){ 
        pc->push_back(randomPoint()); 
        viewer->updatePointCloud(pc,"cloud"); 
    } 
}; 

pcl::PointXYZ dummyClass::randomPoint(){ 
    pcl::PointXYZ pt; 
    pt.x = (double)rand() / RAND_MAX *10 - 5; 
    pt.y = (double)rand() / RAND_MAX *10 - 5; 
    pt.z = (double)rand() / RAND_MAX *10 - 5; 
    return pt; 
}; 

void dummyClass::spin(){ 
    viewer->spin(); 
}; 

int 
main (int argc, char** argv) 
{ 
    dummyClass dc; 
    dc.spin(); 

    return 0; 
}