点云标注程序。显示PCD点云文件，鼠标点击点云上某个点，返回该点的三维坐标。

#include <pcl/io/pcd_io.h> #include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> using namespace std; using namespace pcl; typedef PointXYZRGBA PointT; typedef PointCloud<PointT> PointCloudT; // Mutex: // boost::mutex cloud_mutex; 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<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; } void main() { std::string filename("E:\\code\\PLY-seg\\ply2pcd\\scene.pcd"); //visualizer pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>()); boost::shared_ptr<pcl::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); 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); boost::this_thread::sleep(boost::posix_time::microseconds(100000)); } }