获取点云图像

点云图像深度图像为SDK处理图像，获取深度图像需要 EnablePointProcessor 开启点云计算，然后通过回调获取

参考代码片段：

auto m_pSDK = new CIMRSDK();
MRCONFIG config = {0};
config.bSlam = false;
config.imgResolution = IMG_640;
config.imgFrequency = 50;
config.imuFrequency = 1000;

m_pSDK->Init(config);
std::queue<cv::Mat> points_queue;
int points_count = 0;
if (m_pSDK->EnablePointProcessor()) {
  // m_pSDK->EnableLRConsistencyCheck();
  // m_pSDK->SetDepthCalMode(DepthCalMode::HIGH_ACCURACY);
  m_pSDK->RegistPointCloudCallback(
      [&points_count, &points_queue](double time, cv::Mat points) {
        if (!points.empty()) {
          points_queue.push(points);
          ++points_count;
        }
      });
}
PCViewer pcviewer;
auto &&time_beg = times::now();
while (true) {
  if (!points_queue.empty()) {
    pcviewer.Update(points_queue.front());
    points_queue.pop();
  }
  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
    break;
  }
  if (pcviewer.WasStopped()) {
    break;
  }
}
delete m_pSDK;
return 0;

上述代码，用了 PCL 来显示点云。关闭点云窗口时，也会结束程序。

完整代码样例，请见 _get_points.cpp 。

注意

准备好了 PCL 库，编译教程样例时才会有此例子。如果 PCL 库安装到了自定义目录，那么请打开 demo/CMakeLists.txt ，找到 find_package(PCL) ，把 PCLConfig.cmake 所在目录添加进 CMAKE_PREFIX_PATH 。