PCL学习笔记Day4

设置回调函数

#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

// 回掉函数所用数据结构
struct callback_args {
    
    
	bool* isShow;
	pcl::PointCloud<pcl::PointXYZ>::Ptr orgin_points;
	pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};

// 按键事件回掉函数
void kb_callback(const pcl::visualization::KeyboardEvent& event, void* args)
{
    
    
	if (event.keyDown() && event.getKeyCode() == 'a')
	{
    
    
		std::cout << "a has pressed" << std::endl;
		struct callback_args* data = (struct callback_args*)args;
		if (*(data->isShow))
		{
    
    
			data->viewerPtr->removePointCloud("cloud");
			*(data->isShow) = false;
			std::cout << "remove" << std::endl;
		}
		else {
    
    
			data->viewerPtr->addPointCloud(data->orgin_points, "cloud");
			*(data->isShow) = true;
			std::cout << "add" << std::endl;
		}
	}
}

int main(int argc, char** argv)
{
    
    
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("rabbit.pcd", *cloud);
	pcl::console::print_highlight("load cloud !\n");

	// 定义对象
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
	viewer->addPointCloud(cloud, "cloud");

	// 初始化参数
	bool isShow = true;
	struct callback_args kb_args;
	kb_args.isShow = &isShow;
	kb_args.orgin_points = cloud;
	kb_args.viewerPtr = viewer;

	// 设置回掉函数
	viewer->registerKeyboardCallback(kb_callback, (void*)&kb_args);

	viewer->spin();

	return 0;
}

参考链接：https://github.com/MNewBie/PCL-Notes/blob/master/chapter2.md

https://zhuanlan.zhihu.com/p/268524083