保存鼠标点击处的点云坐标与图像像素坐标到txt文本

代码参考其他博客，并对其简单更改：
https://www.cnblogs.com/lidabo/p/3437587.html
https://www.jianshu.com/p/cbc6b3635844

鼠标点击处的点云坐标保存

//*****************************************************************************************************
//    获得单帧点云中的角反射器角点
//
//    按中shift键,然后在角点处鼠标左击
//    source devel/setup.bash && rosrun cam_laser_calib pcd_points_get 111.pcd  
//    pcl_viewer 111.pcd
//**************************************************************************************************



#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
 
using PointT = pcl::PointXYZRGB;
using PointCloudT = pcl::PointCloud<PointT>;
 
// 用于将参数传递给回调函数的结构体
struct CallbackArgs {
    PointCloudT::Ptr clicked_points_3d;
    pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
 
void pickPointCallback(const pcl::visualization::PointPickingEvent &event, void *args) {
    CallbackArgs *data = (CallbackArgs *) 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);
    // 绘制红色点
    pcl::visualization::PointCloudColorHandlerCustom<PointT> 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;

    FILE *fpWrite=fopen("lidar_xyz.txt","a");
    fprintf(fpWrite,"%1.4f %1.4f %1.4f\n",current_point.x,current_point.y,current_point.z);
    fclose(fpWrite);
    
}
 
int main(int argc, char *argv[]) {

    std::string b = argv[1]; 
    std::cout<<"打开pcd点云文件："<<b<<'\n'; 
    std::string file_name(b);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("viewer"));
    // 加载点云
    if (pcl::io::loadPCDFile(file_name, *cloud) == -1) {
        std::cerr << "could not load file: " << file_name << std::endl;
    }
    std::cout << cloud->points.size() << std::endl;
    // 显示点云
    viewer->addPointCloud(cloud, "cloud");
    viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
    // 添加点拾取回调函数
    CallbackArgs  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);
    viewer->registerPointPickingCallback(pickPointCallback, (void*)&cb_args);
    std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
 
    viewer->spin();
    std::cout << "done." << std::endl;
 
    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
    }
    return 0;
}

鼠标点击处的像素坐标保存

//********************************************************************
//
//      source devel/setup.bash && rosrun cam_laser_calib image_get image.png
//
//*********************************************************************


#include<iostream>
#include<opencv2/opencv.hpp>
#include<iostream>
#include<fstream>
#include<string>

using namespace cv;
using namespace std;
cv::Mat image1;
void onMouse(int event, int x, int y, int flags, void* param)  //evnet:鼠标事件类型 x,y:鼠标坐标 flags：鼠标哪个键
{
    Mat* im = reinterpret_cast<Mat*>(param);
    switch (event) {

    case EVENT_LBUTTONDOWN:
        //显示图像像素值
        FILE *fpWrite=fopen("image_get.txt","a");
        fprintf(fpWrite,"%d %d\n",x,y);
        fclose(fpWrite);
        Point point;
        point.x=x;
        point.y=y;
        circle(image1,point,2,Scalar(0,0,255),-1);
        imshow("image1",image1);  //显示图像；
        if (static_cast<int>(im->channels()) == 1)
        {
            //若图像为灰度图像，则显示鼠标点击的坐标以及灰度值
            cout << "at (" << x << ", " << y << " ) value is: " << static_cast<int>(im->at<uchar>(Point(x, y))) << endl;
        }
        else
        {
            //若图像为彩色图像，则显示鼠标点击坐标以及对应的B, G, R值
            cout << "at (" << x << ", " << y << ")"
                    << "  B value is: " << static_cast<int>(im->at<Vec3b>(Point(x, y))[0])
                    << "  G value is: " << static_cast<int>(im->at<Vec3b>(Point(x, y))[1])
                    << "  R value is: " << static_cast<int>(im->at<Vec3b>(Point(x, y))[2])
                    << endl;
        }

        break;
    }
}

int main(int argc,char** argv)
{ 
    string image_name= argv[1];
    image1 = imread(image_name);  //读取图像；
    if (image1.empty())
    {
        cout << "读取错误" << endl;
        return -1;
    }
    imshow("image1",image1);  //显示图像；
    setMouseCallback("image1", onMouse, reinterpret_cast<void*>(&image1)); //关联图像显示窗口和onMouse函数

    waitKey(0);  //暂停，保持图像显示，等待按键结束

    return 0;
}