PCL使用类成员函数作为pclvisualizer的回调函数

末蓝、 2022-12-24 00:40 131阅读 0赞

[参考链接][Link 1]

#include <pcl/point_types.h>
    #include <pcl/point_cloud.h>
    #include <pcl/point_representation.h>
    #include <pcl/visualization/pcl_visualizer.h>
    
    using namespace pcl; 
    
    class dummyClass{ 
    
    public: 
        dummyClass(); 
        ~dummyClass(){}; 
    
        void keyboardEventOccurred (const visualization::KeyboardEvent &event, void* junk); 
    
        pcl::PointXYZ randomPoint(); 
    
        void spin(); 
    
    private: 
        boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer; 
        pcl::PointCloud<pcl::PointXYZ>::Ptr pc; 
    }; 
    
    dummyClass::dummyClass(){ 
        // Create viewer 
        viewer.reset(new pcl::visualization::PCLVisualizer ("3D Viewer")); 
        viewer->addCoordinateSystem(1); 
        viewer->addText("Press r to add a random point", 30, 10, 15, 1.0f,0.0f,0.0f,"text"); 
    
        // Create cloud 
        pc.reset(new pcl::PointCloud<pcl::PointXYZ>()); 
        pc->push_back(randomPoint()); 
        viewer->addPointCloud(pc,"cloud"); 
        viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5,"cloud"); 
    
        // Register Keyboard Event 
        viewer->registerKeyboardCallback(&dummyClass::keyboardEventOccurred,*this); 
    }; 
    
    void dummyClass::keyboardEventOccurred (const visualization::KeyboardEvent &event, void* junk){ 
        if (event.getKeySym() == "r" && event.keyDown()){ 
            pc->push_back(randomPoint()); 
            viewer->updatePointCloud(pc,"cloud"); 
        } 
    }; 
    
    pcl::PointXYZ dummyClass::randomPoint(){ 
        pcl::PointXYZ pt; 
        pt.x = (double)rand() / RAND_MAX *10 - 5; 
        pt.y = (double)rand() / RAND_MAX *10 - 5; 
        pt.z = (double)rand() / RAND_MAX *10 - 5; 
        return pt; 
    }; 
    
    void dummyClass::spin(){ 
        viewer->spin(); 
    }; 
    
    int 
    main (int argc, char** argv) 
    { 
        dummyClass dc; 
        dc.spin(); 
    
        return 0; 
    }

[Link 1]: http://www.pcl-users.org/PCL-viewer-Register-keyboard-callback-to-class-method-td4042383.html