Question

我想用opencv的函数reprojectImageto3D（）显示我自己生成的pointcloud。这个pointcloud的opencv类型是CV_32FC3，在我的代码中称为'xyz'。

我已经使用正确的库完成了正常main（）的下一个内容：

...

    /// Create a window
        viz::Viz3d myWindow("Viz Demo");

        /// Start event loop
        myWindow.spin();

        /// Event loop is over when pressed q, Q, e, E
        cout << "First event loop is over" << endl;

        /// Access window via its name
        viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");

        /// Start event loop
        sameWindow.spin();

        /// Event loop is over when pressed q, Q, e, E
        cout << "Second event loop is over" << endl;

        /// Event loop is over when pressed q, Q, e, E
        /// Start event loop once for 1 millisecond
        sameWindow.spinOnce(1, true);
        while(!sameWindow.wasStopped())
        {
            /// Interact with window

            /// Create a cloud widget
            viz::WCloud cw(xyz, viz::Color::red());
            /// Display it in a window
            myWindow.showWidget("CloudWidget1", cw);

            /// Event loop for 1 millisecond
            sameWindow.spinOnce(1, true);
        }

        /// Once more event loop is stopped
        cout << "Last event loop is over" << endl;

.......

问题是我无法在窗口中看到pointcloud但是没有编译错误。我按'q'退出正确的循环并等待，但窗口中没有任何内容。

Answer 1

也许是你Mat的格式，它需要一个CV_32FC3，这意味着你需要一个3通道Mat，你应该看看reprojectImageTo3D的垫子是否是那种类型，或者你是否需要解析它，或者你已经解决了这个问题？

使用cv :: viz模块显示WCloud

1 个答案: