Installation

• ubuntu18.04 install PCL

Code

main.cpp

#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;
}
 
int main() {

    std::string file_name("point_cloud_PCD_23685214_1080_06-04-2021-16-34-45.pcd");

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    // 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 << "size: " << cloud->points.size() << std::endl;

    // 显示点云

    // 显示为热力图 打开pcl::PointCloud<pcl::PointXYZ>...
    // pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z");
    // viewer->addPointCloud(cloud, fildColor, "cloud");

    // 显示原rgb数据
    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
    viewer->addPointCloud(cloud, "cloud");

    // 显示坐标轴方向，X（红色）Y（绿色 ）Z （蓝色）
    viewer->addCoordinateSystem(1.0);

    // 通过设置照相机参数使得从默认的角度和方向观察点云
    // viewer->initCameraParameters ();

    // 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;
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.8)

# Enable C++11
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

# Define project name
project(PclCallbackPoint)

# PCL
find_package(PCL REQUIRED)
# Find OpenCV
find_package(OpenCV REQUIRED)

# Add includes
include_directories( ${OpenCV_INCLUDE_DIRS} )
include_directories( ${PCL_INCLUDE_DIRS} ) 

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# Declare the executable target built from your sources
add_executable(PclCallbackPoint main.cpp)

# Link your application with other libraries
target_link_libraries(PclCallbackPoint ${PCL_LIBRARIES} ${OpenCV_LIBS})

Use

mkdir build
cd build
cmake ..
make 

# 有point_cloud_PCD_23685214_1080_06-04-2021-16-34-45.pcd的目录执行
cd ..
./build/PclCallbackPoint

参考

• PCLVisualizer可视化类
• 基于PCL的屏幕选点、框选点云、单点选取等c++实现
• [PCLVisualizer可视化类])(https://www.cnblogs.com/li-yao7758258/p/6445127.html)
• LINUX下查看点云图————point cloud（.ply .vtk .pcd）