Point Cloud Visualization-Click to display point coordinates.

1, point cloud visualization

PCL 1.8. 1

1. 1 contains the header file.

# Including

Use namespace pcl

typedef PCL::point XYZ PointT；

typedef PCL::point cloud point cloud t；

//Mutex://Process lock

Boost:: mutually exclusive cloud _ mutex

//Used to define the structure of the callback function.

Structure Callback _ Parameter

{

point cloudt::Ptr clicked _ points _ 3d；

PCL::visualization::PCLVisualizer::Ptr viewer Ptr；

};

//Callback function

//Hold down shift, right-click the point cloud, and the point distance will be displayed.

void PP _ callback(const PCL::visualization::PointPickingEvent & amp； Event, void * args)

{

Struct callback _args * data = (struct callback _ args *)args；;

If (event). getPointIndex() == - 1)

Return;

PointT current point;

Events. getPoint(current_point.x，current_point.y，current _ point . z)；

//TODO

Data-> clicked _ points _ 3d-& gt； clear()； //Empty the last selected point.

Data-> clicked _ points _ 3d-& gt； Points.push_back (current point); //Add a newly selected point

//Draw the clicked point in red: mark the selected point in red.

PCL::visualization::PointCloudColorHandlerCustom red(data-& gt； clicked_points_3d，255，0，0)；

Data-> viewer ptr-& gt； removePointCloud(" clicked _ points ")；

Data-> viewer ptr-& gt； addPointCloud(data-& gt； Clicked_points_3d, red, "clicked _ points");

Data-> viewer ptr-& gt； setPointCloudRenderingProperties(PCL::visualization::PCL _ VISUALIZER _ POINT _ SIZE， 10，" clicked _ points ")；

Standard:: cout