在PCL可視化工具內打印所選點的3D坐標

Question

我正在嘗試使用PCL打印所選點的3D坐標。 以下是代碼：

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

using namespace std;

void pointPickingEventOccurred (const pcl::visualization::PointPickingEvent& event, void* viewer_void)
{
  std::cout << "[INOF] Point picking event occurred." << std::endl;

  float x, y, z;
  if (event.getPointIndex () == -1)
  {
     return;
  }
  event.getPoint(x, y, z);
  std::cout << "[INOF] Point coordinate ( " << x << ", " << y << ", " << z << ")" << std::endl;
}

int main (int argc, char** argv)
{
    pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr body (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("body.pcd", *body);
    viewer.addPointCloud (body,"body");
    viewer.registerPointPickingCallback (pointPickingEventOccurred, (void*)&viewer);
    viewer.spin();
    return 0;
}

代碼編譯時沒有任何錯誤，但它不會在termainal中打印任何信息。 這有什么不對？

Answer 1

嘗試按住Shift鍵同時左鍵單擊以選擇一個點。