嗨我正在将深度图像转换为点 Cloud ，它似乎停在图像宽度的1/3处 . 也许我在迭代中通过坐标的东西是错误的？
float* p = (float*)depth.data; // one option to iterate through
int index1 = 0; // just for counting the points
for (int y = 0; y < depthImageSize.height; ++y)
{
for (int x = 0; x < depthImageSize.width; ++x)
{
pcl::PointXYZRGBA pt;
//float depthValue = static_cast<float>(*p);
float depthValue = depth.at<float>(y,x);
//cout << p.pos() << endl;
//cout << x << ", " << y << ": " << depthValue << endl;
//++p;
index1++;
if (depthValue == -1000.f || depthValue == 0.0f || boost::math::isnan(depthValue))
{
}
else
{
pt.x = (static_cast<float>(x) - centerX) * scaleFactorX * depthValue;
pt.y = (centerY - static_cast<float>(y)) * scaleFactorY * depthValue;
pt.z = depthValue;
//bgr has to be resized
cv::resize(bgr,bgr,depth.size());
cv::Vec3b colorValue = bgr.at<cv::Vec3b>(y, x);
RGBValue color;
color.Red = colorValue[2];
color.Green = colorValue[1];
color.Blue = colorValue[0];
pt.rgba = color.long_value;
}
result->points.push_back(pt);
}
}
1 回答
我会说它必须是