匹配像素数据和点云

Question

我必须将点云数据从一维组织到二维。我已经有了一个一维点云数据，它只保存强度为255的像素(称为有效像素)的数据。因此，我必须根据图像组织点云。访问二维点云时遇到问题。我不知道怎么做。

// Here the data from in_ThreeD_cloud which is of type tDistanceData is converted to tVec3f
const rrlib::math::tVec3f *points = reinterpret_cast<const rrlib::math::tVec3f*>(in_ThreeD_cloud->DataPtr());

int num_valid_points = 0;

// An object to class PointCloud is created
pcl::PointCloud<pcl::PointXYZI> cloud; 

// Image data from the camera is accessed as Matrix
cv::Mat image  = rrlib::coviroa::AccessImageAsMat(in_img->at(0));

// Dimensions of the point cloud is sent as parameters to overloaded constuctor
cloud(image.cols, image.rows); 

// The point cloud is expected to store the vector3f data in a 2D format
for(int i = 0; i <= image.rows; ++i)
for(int j = 0; j <= image.cols; ++j)
{
     if( image.at<uchar>(i,j) == 255)
     {
       // Error shown here
       cloud.points[i][j].getVector3fMap() = &points[num_valid_points];
       num_valid_points++;

      }


}

显示的错误是: error：‘operator[]’不匹配(操作数类型是‘__gnu_cxx：：__alloc_traits >::value_type {aka pcl：：PointXYZI}’和‘int’)

Answer 1

我很确定问题出在您的点云访问呼叫中。你需要使用逗号表示法而不是第二个括号，我也相信(如果我错了，请纠正我)坐标需要在列中，行顺序。*而不是您的行顺序。

我还将您的云更改为xyz，因为您不会在其中插入任何强度(而只是检查图像以确定点的存在)。

最后，确保你知道点存储在你的3d云中的顺序(row和col)，并确保你以相同的方式循环。

// An object to class PointCloud is created
pcl::PointCloud<pcl::PointXYZ> cloud; 

// Image data from the camera is accessed as Matrix
cv::Mat image  = rrlib::coviroa::AccessImageAsMat(in_img->at(0));

// Dimensions of the point cloud is sent as parameters to overloaded constuctor
cloud(image.cols, image.rows); 

// The point cloud is expected to store the vector3f data in a 2D format
for(int i = 0; i <= image.rows; ++i)
for(int j = 0; j <= image.cols; ++j)
{
     if( image.at<uchar>(i,j) == 255)
     {
       // Error shown here
       cloud.points[j,i].getVector3fMap() = &points[num_valid_points];
       num_valid_points++;

      }
}