iOS Swift ARKit 可视化 ARWorldMap RawFeaturePoints 中的原始特征点

Question

ARWorldMap 具有 rawFeaturePoints，它是 ARPointCloud 类型的点云

有谁知道如何像下面的视频一样可视化这个点云；

https://m.youtube.com/watch?v=Pb4uv4FSWKI

如何实现这一目标？

Answer 1

正如您所说，这可以使用 rawFeaturePoints 实例属性来实现，它代表在相机图像中检测到的显着特征。

var rawFeaturePoints: ARPointCloud? { get }

或者

sceneView.session.currentFrame?.rawFeaturePoints

Here's an extract of CODE written by Josh Robbins on a GitHub.

func renderer(_ renderer: SCNSceneRenderer, updateAtTime time: TimeInterval) {
    guard let currentFrame = self.augmentedRealitySession.currentFrame,
    let featurePointsArray = currentFrame.rawFeaturePoints?.points else { return } 
    visualizeFeaturePointsIn(featurePointsArray)   
}

func visualizeFeaturePointsIn(_ featurePointsArray: [vector_float3]) {     
    self.augmentedRealityView.scene.rootNode.enumerateChildNodes { (featurePoint, _) in           
        featurePoint.geometry = nil
        featurePoint.removeFromParentNode()
    }    
    DispatchQueue.main.async {
        self.rawFeaturesLabel.text = self.Feature_Label_Prefix + String(featurePointsArray.count)
    }  
    featurePointsArray.forEach { (pointLocation) in
        let clone = sphereNode.clone()
        clone.position = SCNVector3(pointLocation.x, pointLocation.y, pointLocation.z)
        self.augmentedRealityView.scene.rootNode.addChildNode(clone)
    }
}