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点云采集前启用 VzNL_EnableFillLaserPoint:SDK 输出定长填充激光线,栅格列对齐

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Ben 2026-07-05 23:39:15 -07:00
parent f847f73041
commit e19f85e2e7
1 changed files with 11 additions and 1 deletions
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12
src/VizumCamera.cpp
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@ -906,7 +906,17 @@ bool VizumCamera::CapturePointCloudWithAutoDetect(PointCloud& pointCloud, int ti
} else { } else {
LOG_INFO("[VizumCamera] Laser detection initialized successfully"); LOG_INFO("[VizumCamera] Laser detection initialized successfully");
} }
// 2.5 启用激光点填充:SDK 对每条激光线输出定长点序列,无测量处填充占位点,
// 使扫描线构成真正列对齐的 W×H 栅格(供组织化点云保存/栅格聚类使用)
result = VzNL_EnableFillLaserPoint(m_deviceHandle, VzTrue);
if (result != 0) {
VzNL_GetErrorInfo(result, errorMsg);
LOG_WARN("[VizumCamera] VzNL_EnableFillLaserPoint failed: {} (error code: {})", errorMsg, result);
} else {
LOG_INFO("[VizumCamera] Fill laser point mode enabled (rasterized scan lines)");
}
// 3. 启动自动检测模式（与VznlCamera::StartAutoDetect一致） // 3. 启动自动检测模式（与VznlCamera::StartAutoDetect一致）
m_isPaused = false; m_isPaused = false;
LOG_INFO("[VizumCamera] Step 2: Starting AutoDetectEx..."); LOG_INFO("[VizumCamera] Step 2: Starting AutoDetectEx...");