Function pp_callback

tools/pcd_viewer.cpp:169–223

}

void
pp_callback (const pcl::visualization::PointPickingEvent& event, void* cookie)
{
  int idx = event.getPointIndex ();
  if (idx == -1)
    return;

  if (!cloud)
  {
    cloud = *reinterpret_cast<pcl::PCLPointCloud2::Ptr*> (cookie);
    xyzcloud.reset (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromPCLPointCloud2 (*cloud, *xyzcloud);
    search.setInputCloud (xyzcloud);
  }
  // Return the correct index in the cloud instead of the index on the screen
  pcl::Indices indices (1);
  std::vector<float> distances (1);

  // Because VTK/OpenGL stores data without NaN, we lose the 1-1 correspondence, so we must search for the real point
  pcl::PointXYZ picked_pt;
  event.getPoint (picked_pt.x, picked_pt.y, picked_pt.z);
  search.nearestKSearch (picked_pt, 1, indices, distances);

  PCL_INFO ("Point index picked: %d (real: %d) - [%f, %f, %f]\n", idx, indices[0], picked_pt.x, picked_pt.y, picked_pt.z);

  idx = indices[0];
  // 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
  const std::string idx_string = std::to_string(idx);
  // Get the cloud's fields
  for (std::size_t i = 0; i < cloud->fields.size (); ++i)
  {
    if (!isMultiDimensionalFeatureField (cloud->fields[i]))
      continue;
    PCL_INFO ("Multidimensional field found: %s\n", cloud->fields[i].name.c_str ());
    ph_global.addFeatureHistogram (*cloud, cloud->fields[i].name, idx, idx_string);
    ph_global.renderOnce ();
  }
  if (p)
  {
    pcl::PointXYZ pos;
    event.getPoint (pos.x, pos.y, pos.z);
    p->addText3D<pcl::PointXYZ> (idx_string, pos, 0.0005, 1.0, 1.0, 1.0, idx_string);
  }
  
}

/* ---[ */
int