PCL 点云数据操作 OpenCV遍历数据

 1     //使用深度数据，重建三维点云
 2     int row = 0, col = 0, pointId = 0;
 3     for (row = 0;row < depthHeight;row++)// row == y 遍历深度矩阵所有行
 4     {
 5         unsigned short* data = DepthData.ptr<unsigned short>(row);
 6         for(col = 0;col < depthWidth;col++)// col == x 遍历深度矩阵所有列
 7         {
 8             if(*data>500 && *data<1500)    //取0.5m-1.5m范围深度数据
 9             {
10                 pointId ++;
11                 // [X,Y,Z]‘ = depth[x,y] * inv_K * [x,y,1]
12                 cloud.points[pointId].x = *data * (col * mInvK.at<float>(0,0) +
13                     row * mInvK.at<float>(0,1) + mInvK.at<float>(0,2));    //X
14 
15                 cloud.points[pointId].y = *data * (col * mInvK.at<float>(1,0) +
16                     row * mInvK.at<float>(1,1) + mInvK.at<float>(1,2));    //Y
17 
18                 cloud.points[pointId].z = *data;    //Z
19             }
20             else    // 其他范围数据无操作
21             {
22             }
23             data++;    //深度数据指针，指向下一位置深度数据
24         }
25     }