void
pp_callback (const pcl::visualization::PointPickingEvent& event, void* cookie)
{
if (event.getPointIndex () == -1)
return;
sensor_msgs::PointCloud2::Ptr cloud = *static_cast<sensor_msgs::PointCloud2::Ptr*>(cookie);
if (!cloud)
return;
// If two points were selected, draw an arrow between them
pcl::PointXYZ p1, p2;
if (event.getPoints (p1.x, p1.y, p1.z, p2.x, p2.y, p2.z) && p)
{
std::stringstream ss;
ss << p1 << p2;
p->addArrow<pcl::PointXYZ, pcl::PointXYZ> (p1, p2, 1.0, 1.0, 1.0, ss.str ());
return;
}
// Else, if a single point has been selected
std::stringstream ss;
ss << event.getPointIndex ();
// Get the cloud's fields
for (size_t i = 0; i < cloud->fields.size (); ++i)
{
if (!isMultiDimensionalFeatureField (cloud->fields[i]))
continue;
ph_global.addFeatureHistogram (*cloud, cloud->fields[i].name, event.getPointIndex (), ss.str ());
}
if (p)
{
pcl::PointXYZ pos;
event.getPoint (pos.x, pos.y, pos.z);
p->addText3D<pcl::PointXYZ> (ss.str (), pos, 0.0005, 1.0, 1.0, 1.0, ss.str ());
}
ph_global.spinOnce ();
}
void pointpickingEventOccurred (const pcl::visualization::PointPickingEvent &event, void* viewer_void)
{
int indx;
float x,y,z;
indx = event.getPointIndex();
if(indx == -1)
return;
std::cout << indx << " " << std::endl;
event.getPoint(x,y,z);
first.x = x;
first.y = y;
first.z = z;
std::cout<<"First point "<<first.x<<" , "<<first.y<<" , "<<first.z<<std::endl;
// Green region detection
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr final_cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
final_cloud->width = cloud->width;
final_cloud->height = cloud->height;
final_cloud->resize (cloud->width * cloud->height);
//
}