iOS Swift ARKit通过ARWorldMap RawFeaturePoints可视化原始特征点

Question

一个ARWorldMap具有rawFeaturePoints，它是ARPointCloud类型的点云

有谁知道如何像下面的视频中那样可视化此点云；

https://m.youtube.com/watch?v=Pb4uv4FSWKI

这怎么实现？

Answer 1

正如您正确地说的那样，这可以使用rawFeaturePoints实例属性来实现，该属性表示在相机图像中检测到的显着特征。

var rawFeaturePoints: ARPointCloud? { get }

OR

sceneView.session.currentFrame?.rawFeaturePoints

  

这是 Josh Robbins 在GitHub上写的CODE的摘录。

func renderer(_ renderer: SCNSceneRenderer, updateAtTime time: TimeInterval) {
    guard let currentFrame = self.augmentedRealitySession.currentFrame,
    let featurePointsArray = currentFrame.rawFeaturePoints?.points else { return } 
    visualizeFeaturePointsIn(featurePointsArray)   
}

func visualizeFeaturePointsIn(_ featurePointsArray: [vector_float3]) {     
    self.augmentedRealityView.scene.rootNode.enumerateChildNodes { (featurePoint, _) in           
        featurePoint.geometry = nil
        featurePoint.removeFromParentNode()
    }    
    DispatchQueue.main.async {
        self.rawFeaturesLabel.text = self.Feature_Label_Prefix + String(featurePointsArray.count)
    }  
    featurePointsArray.forEach { (pointLocation) in
        let clone = sphereNode.clone()
        clone.position = SCNVector3(pointLocation.x, pointLocation.y, pointLocation.z)
        self.augmentedRealityView.scene.rootNode.addChildNode(clone)
    }
}