cv::viz

opencv viz模块进行点云显示

cv::viz::Viz3d cloudWindow("Point Cloud Viewer");

	std::vector<cv::viz::WLine> cube_widget_box;   是一个立方体
	cube_widget_box.clear();
	cv::Point3f p0, p1, p2, p3, p4, p5;

	float len = 2.2;

	p0.x = 0; p0.y = 0; p0.z = 0;
	p1.x = len; p1.y = 0; p1.z = 0;
	p2.x = 0; p2.y = len; p2.z = 0;
	p3.x = 0; p3.y = 0; p3.z = len;


	cv::viz::WLine wline1(p0, p1, cv::Scalar(255, 255, 255));
	cv::viz::WLine wline2(p0, p2, cv::Scalar(0, 255, 0));
	cv::viz::WLine wline3(p0, p3, cv::Scalar(0, 0, 255));
	


	cube_widget_box.push_back(wline1);
	cube_widget_box.push_back(wline2);
	cube_widget_box.push_back(wline3);



	for (int i = 0; i < 3; i++)
	{
		std::string name = "box" + std::to_string(i);

		cloudWindow.showWidget(name, cube_widget_box[i]);
	}
#endif

	cv::Mat cloudMat;

		cloudMat = _pointCloud.clone();

		cloudWindow.spinOnce(1, true);
		if (cloudMat.empty())
		{
			continue;
		}
		cv::viz::WCloud cloud_widget(cloudMat);
		cloudWindow.showWidget("cloud", loud_widget);