Question

我是Point Cloud Library（PCL）和C ++编程的新手。我加载了多个.ply文件作为参数（比如test0.ply，test1.ply ... test99.ply），并将它们一个接一个地可视化，就好像它们是视频帧一样。 / p>

以下是我迄今为止尝试过的内容。如何在每帧（模型缩小）中远离模型？ setCameraPosition函数看起来很相关，但说明令人困惑。

更新：我们需要找到相机current_position并使用它。就像放大/缩小一样。

#include <iostream>
//#include <unistd.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>

// This function displays the help
void showHelp(char *program_name)
{
    std::cout << std::endl;
    std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
    std::cout << "-h: Show this help." << std::endl;
}

// Main function
int main(int argc, char **argv)
{
    // Show help
    if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help"))
    {
        showHelp(argv[0]);
        return 0;
    }

    // Fetch point cloud filename in arguments | Works with PLY files
    std::vector<int> filenames;

    filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");

    // Visualization 
    printf("\n Point cloud colors :\n"
        " \t white \t = \t original point cloud \n");

    pcl::visualization::PCLVisualizer viewer(" Point Cloud Visualizer");
    viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Set background to a dark grey

                                                    // Load file | Works with PLY files
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZRGB>());

    int i = 0;
    while (1)
    {
//      int v1(0);
//      viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
        i++;
        cout << argv[filenames[i % 10]] << endl;

        if (pcl::io::loadPLYFile(argv[filenames[i % 10]], *source_cloud) < 0)
        {
            std::cout << "Error loading point cloud " << argv[filenames[(i % 10) + 1]] << std::endl << std::endl;
            showHelp(argv[(i % 10) + 1]);
            return -1;
        }


        // Define R,G,B colors for the point cloud 
        pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(source_cloud);

        // We add the point cloud to the viewer and pass the color handler 

        viewer.addPointCloud(source_cloud, rgb, "original_cloud" + i);
        viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud" + i);

        viewer.spinOnce();
        viewer.removePointCloud("original_cloud" + i);
    }

    return 0;
} // End main()

Answer 1

我认为你走在正确的轨道上，setCameraPosition（）应该是你想要的。下面是一些示例代码，用于将摄像机聚焦在特定点上，并将摄像机放置在y维度上5米处。

    pcl::PointXYZI center = centerPoint(cloud);
    viewer->setCameraPosition(center.x, center.y - 5, center.z, 0, 0, 1);

    std::vector<pcl::visualization::Camera> cams;
    viewer->getCameras(cams);

    for (auto&& camera : cams)
    {
        camera.focal[0] = center.x;
        camera.focal[1] = center.y;
        camera.focal[2] = center.z;
    }

    viewer->setCameraParameters(cams[0]);

PCL缩小功能

1 个答案: