PCL：屏幕拾点得到坐标

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
 
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
 
// Mutex: //进程锁
boost::mutex cloud_mutex;
 
//用于给回调函数的结构体定义
// structure used to pass arguments to the callback function
struct callback_args 
{
	PointCloudT::Ptr clicked_points_3d;
	pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
 
//回调函数
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);
 
	//TODO
	data->clicked_points_3d->clear();//将上次选的点清空
 
	data->clicked_points_3d->points.push_back(current_point);//添加新选择的点
	// Draw clicked points in red:将选中点用红色标记
	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("rabbit.pcd");
	//visualizer,定义可视化窗口
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
 
	//读取点云数据
	if (pcl::io::loadPCDFile(filename, *cloud))
	{
		std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;
		return;
	}
	std::cout << cloud->points.size() << std::endl;
 
	// for not overwriting the point cloud
	//获得互斥体，期间不能修改点云
	cloud_mutex.lock();  
 
	// Display pointcloud:
	//显示点云
	viewer->addPointCloud(cloud, "rabbit");
	//viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);  //设置相机位置
 
	// Add point picking callback to viewer:
	//可视化窗口执行回调函数
	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);
	//注册屏幕选点事件
	viewer->registerPointPickingCallback(pp_callback, (void*)&cb_args);
	//Shfit+鼠标左键选择点
	std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
 
	// Spin until 'Q' is pressed:
	//摁“Q”键结束
	viewer->spin();
	std::cout << "done." << std::endl;
 
	//释放互斥体
	cloud_mutex.unlock();
 
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);   //100??
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
}

最终实现效果如下图：

代码中设计的类的理解/解释：

boost::mutex cloud_mutex：这是boost库中提供的的mutex类，可以和lock类通过组合轻易构建读写锁和互斥锁。其中mutex是对象类，lock类是模板类。mutex类主要有两种：boost::mutex，boost::shared_mutex，其中mutex有lock和unlock方法，shared_mutex除了提供lock和unlock方法外，还有shared_lock和shared_unlock方法。因此，boost::mutex为独占互斥类，boost::shared_mutex为共享互斥类。

参考链接：https://blog.csdn.net/fanyun_01/article/details/5145311

                https://blog.csdn.net/huang_xw/article/details/8457599

pcl::visualization::PCLVisualizer：PCL中进行点云可视化的类。同样进行可视化的类还有CloudViewer类。后者不能用于多线程应用程序。

官方教程：http://www.pclcn.org/study/shownews.php?lang=cn&id=161

参考链接：https://blog.csdn.net/Felaim/article/details/77469856

参考链接：

（1）https://blog.csdn.net/u014801811/article/details/79902833

（2）https://blog.csdn.net/liang583206/article/details/73386836

（3）PCL官方实例：http://www.pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php