point-cloud-library - 点云数据到垫子数据

Question

我必须将层数据转换为垫子数据。为此，我使用了 pcl 的 plyreader 并将其转换为点云，现在我的下一步是将其从点云转换为 mat 数据。我猜我从 plyreader 获得的点云是杂乱无章的。我一直在尝试提取点云的 xyz 值，然后将其复制到数据中。

pcl::PointCloud::Ptr 云（新 pcl::PointCloud）；// 创建一个新的点云 (POINTXYZ)

pcl::PLYReader reader;               
reader.read(filename,*cloud);         // read the ply file

cv::Mat output;
//...
output = cv::Mat(1,cloud->points.size(),CV_32FC3);
for(size_t i=0; i<cloud->points.size();++i)
{
    int m = cloud->points[i].x;
    int n = cloud->points[i].y;
    int l = cloud->points[i].z;

    float x0;
    float x1;
    float x2;

    output.at<cv::Vec3f>(x0,x1,x2)= cv::Vec3f(m,n,l);

}

我知道这是错误的。我发现了一篇关于此的帖子，但那是针对有组织的云链接在这里 -->

访问【点云转垫】

从 PointCloud 到 Mat 的转换

我是这个领域的新手。如果有人知道或可以提供帮助！！！

提前致谢

Answer 1

cv::Size sz;
sz= cv::Size(cloud->width,cloud->height);


cv::Mat output(sz,CV_32FC3);
cvWaitKey(50);



for (int j=0; j<output.rows;++j)
{
     for(int i= 0; i<output.cols;++i)
      {
    output.at<cv::Vec3f>(1,i)[0] = cloud->points[i].x;
    output.at<cv::Vec3f>(1,i)[1] = cloud->points[i].y;
    output.at<cv::Vec3f>(1,i)[2] = cloud->points[i].z;

      }}

There is no error in the code and runs properly but still at the cv:: Mat output, the values are not copying and giving some absurd result. Does anyone know the mistake or how to get values at output as cvmat data only.

Answer 2

它应该是：

output.at<cv::Vec3f>(1,i)[0] = cloud->points[i].x; //(1,i) is (row,col)
output.at<cv::Vec3f>(1,i)[1] = cloud->points[i].y; // [1] is y float
output.at<cv::Vec3f>(1,i)[2] = cloud->points[i].z;