从一个特定视点的一个网格生成一个点云

Question

从一个特定的角度来看，我希望从一个网格中获得相应的点云。 pcl_mesh2pcd和pcl_mesh_sampling只将一个网格转换为一个点云，并且不考虑视点问题。从一个特定的角度来看，网格的某些端口将是不可见的。 也许pcl库中的某些函数会执行这样的工作。但是我对PCL中的每个模型都不是很熟悉，并且花了很多时间来完成这样的功能。不幸的是我没有找到它。 我也在互联网上搜索。任何帮助表示赞赏。

Answer 1

查看PCL的simulation模块。

来自README_about_tools的报价：

Test and Example Programs for pcl_simulation
mfallon and hordurj march 2012

1. sim_viewer.cpp
purpose: simulate in viewer which is almost the same as pcl_viewer
status : use the mouse to drive around, and 'v' to capture a cloud. reads vtk and obj. 
         visualizes vtk and makes pcd of obj. conflict between RL and VTK means doesn't visualize/simulate properly
was    : range_pcd_viewer.cpp

2. sim_terminal_demo.cpp
purpose: simple app to demo speed and api to pcl_simulation
status : reads obj, make a series of 640x480 simulated point clouds and exits
depndcy: OpenCV for writing png images

3. sim_test_performance.cpp
purpose: GLUT/GLEW viewer used by Hordur to test GLSL optimizations. Creates two different viewing planes
status : reads obj, creates window, use keyboard to drive around environment
was    : range_performance_test.cpp

4. sim_test_simple
purpose: similar code to #3 but has a 2x2 grid each containing 640x480 windows, but operates as #1. press 'v' to capture a cloud to file (only works properly if 2x2 canged to 1x1)
status : reads obj, creates window, use keyboard to drive around environment
was    : range_test_v2.cpp

sim_viewer可能是您想要尝试的工具。