Question

我安装了PCL1.7.2。我正在尝试使用PCL库。

我想通过＆＃34; const＆＃34;来显示相机的参数，所以，我想获取相机的参数。但我不明白如何获取相机的参数。

我看到＆＃34; pcl :: visualization :: Camera Class Reference＆＃34;。 http://docs.pointclouds.org/trunk/classpcl_1_1visualization_1_1_camera.html

我知道＃34;相机＆＃34;有焦点，位置，视图等。宾语。

现在我已确认以下代码已运行。

但我无法理解如何获得相机会员。这是设置Camera的成员值的方法。 viewer.setCameraPosition（pos_x，pos_y，pos_z，view_x，view_y，view_z，up_x，up_y，up_z，viewport）;

所以，有人请告诉我如何使用以下代码获取相机的参数。

这是现在的道路来源。

#include "stdafx.h"
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
int user_data=0;

void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor(1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere(o, 0.25, "sphere", 0);
    std::cout << "i only run once" << std::endl;

}

void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape("text", 0);
    viewer.addText(ss.str(), 200, 300, "text", 0);

    //FIXME: possible race condition here:
    user_data++;

}

int _tmain(int argc, const _TCHAR** argv)
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::io::loadPCDFile("c:\\data\\triceratops\\raw_0.pcd", *cloud);

    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    //blocks until the cloud is actually rendered
    viewer.showCloud(cloud);

    //use the following functions to get access to the underlying more advanced/powerful
    //PCLVisualizer

    //This will only get called once
    viewer.runOnVisualizationThreadOnce(viewerOneOff);

    //This will get called once per visualization iteration
    viewer.runOnVisualizationThread(viewerPsycho);
    while (!viewer.wasStopped())
    {
        //you can also do cool processing here
        //FIXME: Note that this is running in a separate thread from viewerPsycho
        //and you should guard against race conditions yourself...
        user_data++;
    }
    return 0;
}

Answer 1

这应该有效：

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;          
std::vector<pcl::visualization::Camera> cam; 

//Save the position of the camera           
viewer->getCameras(cam); 

//Print recorded points on the screen: 
cout << "Cam: " << endl 
             << " - pos: (" << cam[0].pos[0] << ", "    << cam[0].pos[1] << ", "    << cam[0].pos[2] << ")" << endl 
             << " - view: ("    << cam[0].view[0] << ", "   << cam[0].view[1] << ", "   << cam[0].view[2] << ")"    << endl 
             << " - focal: ("   << cam[0].focal[0] << ", "  << cam[0].focal[1] << ", "  << cam[0].focal[2] << ")"   << endl;

如何在PCL上获取相机的参数？

1 个答案: