如何將cv :: Mat轉換爲pcl :: pointcloud

Question

如何從opencv Mat pointcloud轉換爲pcl :: pointcloud？顏色對我來說並不重要，只有點本身。

Answer 1

你可以做到這一點，如：

pcl::PointCloud<pcl::PointXYZ>::Ptr SimpleOpenNIViewer::MatToPoinXYZ(cv::Mat OpencVPointCloud) 
     { 
      /* 
      * Function: Get from a Mat to pcl pointcloud datatype 
      * In: cv::Mat 
      * Out: pcl::PointCloud 
      */ 

      //char pr=100, pg=100, pb=100; 
      pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);//(new pcl::pointcloud<pcl::pointXYZ>); 

      for(int i=0;i<OpencVPointCloud.cols;i++) 
      { 
       //std::cout<<i<<endl; 

       pcl::PointXYZ point; 
       point.x = OpencVPointCloud.at<float>(0,i); 
       point.y = OpencVPointCloud.at<float>(1,i); 
       point.z = OpencVPointCloud.at<float>(2,i); 

       // when color needs to be added: 
       //uint32_t rgb = (static_cast<uint32_t>(pr) << 16 | static_cast<uint32_t>(pg) << 8 | static_cast<uint32_t>(pb)); 
       //point.rgb = *reinterpret_cast<float*>(&rgb); 

       point_cloud_ptr -> points.push_back(point); 


      } 
      point_cloud_ptr->width = (int)point_cloud_ptr->points.size(); 
      point_cloud_ptr->height = 1; 

      return point_cloud_ptr; 

     } 

同時，也是otherway

cv::Mat MVW_ICP::PoinXYZToMat(pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_ptr){ 

    cv::Mat OpenCVPointCloud(3, point_cloud_ptr->points.size(), CV_64FC1); 
    for(int i=0; i < point_cloud_ptr->points.size();i++){ 
     OpenCVPointCloud.at<double>(0,i) = point_cloud_ptr->points.at(i).x; 
     OpenCVPointCloud.at<double>(1,i) = point_cloud_ptr->points.at(i).y; 
     OpenCVPointCloud.at<double>(2,i) = point_cloud_ptr->points.at(i).z; 
    } 

    return OpenCVPointCloud; 
} 

Answer 2

要通過Kinect的傳感器捕捉並代表通過depthMat到PCL一系列圖像轉換:: PointCloud你可以試試這個功能。校準參數是使用的那些參數here。

{ 
    pcl::PointCloud<pcl::PointXYZ>::Ptr MatToPoinXYZ(cv::Mat depthMat) 
{ 
    pcl::PointCloud<pcl::PointXYZ>::Ptr ptCloud (new pcl::PointCloud<pcl::PointXYZ>); 

// calibration parameters 
    float const fx_d = 5.9421434211923247e+02; 
    float const fy_d = 5.9104053696870778e+02; 
    float const cx_d = 3.3930780975300314e+02; 
    float const cy_d = 2.4273913761751615e+02; 

    unsigned char* p = depthMat.data; 
    for (int i = 0; i<depthMat.rows; i++) 
    { 
     for (int j = 0; j < depthMat.cols; j++) 
     { 
      float z = static_cast<float>(*p); 
      pcl::PointXYZ point; 
      point.z = 0.001 * z; 
      point.x = point.z*(j - cx_d)/fx_d; 
      point.y = point.z *(cy_d - i)/fy_d; 
      ptCloud->points.push_back(point); 
      ++p; 
     } 
    } 
    ptCloud->width = (int)depthMat.cols; 
    ptCloud->height = (int)depthMat.rows; 

    return ptCloud; 

} 
}