pcl小白在看点云教程的pcl_visualizer_demo.cpp代码,ModelCoefficients为点云添加圆锥时,对其参数设置的参数不是很理解,如下代码
//在其他位置添加基于模型参数的平面及圆锥体
ModelCoefficients coeffs;
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(1.0);
coeffs.values.push_back(0.0);
viewer->addPlane(coeffs, "plane");
coeffs.values.clear();
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.3);
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.0);
coeffs.values.push_back(0.5);
coeffs.values.push_back(0.0);
coeffs.values.push_back(5.0);
viewer->addCone(coeffs, "cone");
return viewer;
最终在pcl手册中查到了解释
链接:http://docs.pointclouds.org/trunk/group__visualization.html#gabcd9db6ceafdd6b36b3700df9134272d
其中:Vector3f cone_apex 为圆锥顶点坐标,Vector3f axis_direction为圆锥轴线(顶点指向底面中心的有向线段)的方向和长度。Angle()为α/2(α为圆锥锥角)。