基于PCL 1.11 的屏幕选点

1. 单点选取
   下面是全部代码
   ==============================================================================
   #include <pcl/io/pcd_io.h>
   #include <pcl/io/ply_io.h>
   #include <pcl/point_cloud.h>
   #include <pcl/point_types.h>
   #include <pcl/visualization/pcl_visualizer.h>

#include <boost/interprocess/sync/named_mutex.hpp>
#include <boost/interprocess/creation_tags.hpp>

typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud PointCloudT;

// Mutex: //PCL 1.11 要这样写
boost::interprocess::named_mutex cloud_mutex (boost::interprocess::open_or_create, “haha”);

struct callback_args
{
// structure used to pass arguments to the callback function
PointCloudT::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;
PointT 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 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;
}
void main()
{
std::string filename(“test_pcd.pcd”);
//visualizer
pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ());
std::shared_ptrpcl::visualization::PCLVisualizer viewer(new pcl::visualization::PCLVisualizer(“viewer”));
if (pcl::io::loadPCDFile(filename, cloud))
{
std::cerr << "ERROR: Cannot open file " << filename << “! Aborting…” << std::endl;
return;
}
std::cout << cloud->points.size() << std::endl;
//viewer->addPointCloud(cloud, “bunny”);
cloud_mutex.lock(); // for not overwriting the point cloud
// Display pointcloud:
viewer->addPointCloud(cloud, “bunny”);
viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
// Add point picking callback to viewer:
struct callback_args cb_args;
PointCloudT::Ptr clicked_points_3d(new PointCloudT);
cb_args.clicked_points_3d = clicked_points_3d;
//cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr (viewer);
cb_args.viewerPtr = std::shared_ptrpcl::visualization::PCLVisualizer(viewer);//PCL 1.11 要这样写
viewer->registerPointPickingCallback(pp_callback, (void)&cb_args);
std::cout << “Shift+click on three floor points, then press ‘Q’…” << std::endl;
// Spin until ‘Q’ is pressed:
viewer->spin();
std::cout << “done.” << std::endl;
cloud_mutex.unlock();
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
std::this_thread::sleep_for(std::chrono::microseconds(100000));//PCL 1.11 要这样写
}
}

========================================分割线 ================================
上效果：

参考：
https://www.cnblogs.com/flyinggod/p/9487959.html

扩展记录：自己根据pcl 1.11 去修改下面的程序。
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/voxel_grid.h>
#include
#include

pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ());
boost::shared_ptrpcl::visualization::PCLVisualizer viewer(new pcl::visualization::PCLVisualizer(“viewer”));
pcl::PointCloudpcl::PointXYZ::Ptr clicked_points_3d(new pcl::PointCloudpcl::PointXYZ);
int num = 0;

void pp_callback(const pcl::visualization::AreaPickingEvent& event, void* args)
{
std::vector< int > indices;
if (event.getPointsIndices(indices)==-1)
return;

for (int i = 0; i < indices.size(); ++i)
{
    clicked_points_3d->points.push_back(cloud->points.at(indices[i]));
}

pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red(clicked_points_3d, 255, 0, 0);

std::stringstream ss;
std::string cloudName;
ss << num++;
ss >> cloudName;
cloudName += "_cloudName";

viewer->addPointCloud(clicked_points_3d, red, cloudName);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);

}

void main()
{
if (pcl::io::loadPCDFile(“bunny.pcd”, cloud))
{
std::cerr << "ERROR: Cannot open file " << std::endl;
return;
}
viewer->addPointCloud(cloud, “bunny”);
viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
viewer->registerAreaPickingCallback(pp_callback, (void)&cloud);

//VoxelGrid
pcl::VoxelGrid<pcl::PointXYZ> vgF;
vgF.setInputCloud(cloud);
vgF.setLeafSize(0.1, 0.1, 0.1);
vgF.filter(*cloud);

while (!viewer->wasStopped())
{
    viewer->spinOnce(100);
    boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}

}