From cbf6b06e9c72d328480634d4071197c2b3fbb026 Mon Sep 17 00:00:00 2001 From: Piyush Patel <36793743+da-piyushpatel@users.noreply.github.com> Date: Sat, 23 Feb 2019 12:40:47 +0530 Subject: [PATCH] Update generatePointCloud.cpp --- part II/src/generatePointCloud.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/part II/src/generatePointCloud.cpp b/part II/src/generatePointCloud.cpp index ec0e539..5a253ab 100644 --- a/part II/src/generatePointCloud.cpp +++ b/part II/src/generatePointCloud.cpp @@ -11,11 +11,11 @@ using namespace std; #include #include -// 定义点云类型 +// point cloud data type typedef pcl::PointXYZRGBA PointT; typedef pcl::PointCloud PointCloud; -// 相机内参 +// camera internal reference const double camera_factor = 1000; const double camera_cx = 325.5; const double camera_cy = 253.5; @@ -33,11 +33,12 @@ int main( int argc, char** argv ) // API: http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=imread#cv2.imread rgb = cv::imread( "./data/rgb.png" ); // rgb 图像是8UC3的彩色图像 - // depth 是16UC1的单通道图像，注意flags设置-1,表示读取原始数据不做任何修改 + // depth flag=-1 means data read without modification depth = cv::imread( "./data/depth.png", -1 ); - // 点云变量 - // 使用智能指针，创建一个空点云。这种指针用完会自动释放。 + // poit cloud variable + // Create a blank cloud using smart pointers. This type of pointer is automatically released when it is used up. + PointCloud::Ptr cloud ( new PointCloud ); // 遍历深度图 for (int m = 0; m < depth.rows; m++) @@ -51,13 +52,13 @@ int main( int argc, char** argv ) // d 存在值，则向点云增加一个点 PointT p; - // 计算这个点的空间坐标 + // Calculate the spatial coordinates of this point p.z = double(d) / camera_factor; p.x = (n - camera_cx) * p.z / camera_fx; p.y = (m - camera_cy) * p.z / camera_fy; // 从rgb图像中获取它的颜色 - // rgb是三通道的BGR格式图，所以按下面的顺序获取颜色 + // Rgb is a three-channel BGR format map, so get the colors in the following order p.b = rgb.ptr(m)[n*3]; p.g = rgb.ptr(m)[n*3+1]; p.r = rgb.ptr(m)[n*3+2];