Question

我正在研究kinect V2及其抓取工具来运行它。我遇到了一些想要在pcd上编写云信息的问题。看看这段代码：

int main(int argc, char* argv[]) 
{ 
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Point Cloud Viewer")); 
    viewer->registerKeyboardCallback(&keyboard_callback, "keyboard"); 
    viewer->registerMouseCallback(&mouse_callback, "mouse"); 

    pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud; 
    boost::function<void(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> function = 
            [&cloud](const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &ptr){ 
            boost::mutex::scoped_lock lock(mutex); 
            cloud = ptr; 
    }; 

    pcl::Grabber* grabber = new pcl::Kinect2Grabber(); 

    boost::signals2::connection connection = grabber->registerCallback(function); 

    grabber->start(); 

    while (!viewer->wasStopped()){ 
            viewer->spinOnce(); 

            if (cloud){ 
                    if (!viewer->updatePointCloud(cloud, "cloud")){ 
                            viewer->addPointCloud(cloud, "cloud"); 
                            viewer->resetCameraViewpoint("cloud"); 
                    } 
            } 

            if (GetKeyState(VK_ESCAPE) < 0){ 
                    break; 
            } 
    } 

    grabber->stop(); 

    return 0; 
}

boost函数的云指针必须是const（我不确定）。因此，我无法与cloud.makeShared()函数共享它，cloud->makeShared()通过抛出一些例外而中止。我也尝试将其复制到常规云但不起作用。你能帮我解决一下如何在pcd文件上写这个云吗？

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0 个答案: