pcl 中setCameraPosition的参数说明

开发手册上给出的参数说明如下： 

void pcl::visualization::PCLVisualizer::setCameraPosition	(	double	pos_x,
		double	pos_y,
		double	pos_z,
		double	view_x,
		double	view_y,
		double	view_z,
		double	up_x,
		double	up_y,
		double	up_z,
		int	viewport = 0
	)

Set the camera pose given by position, viewpoint and up vector.

Parameters

[in]	pos_x	the x coordinate of the camera location
[in]	pos_y	the y coordinate of the camera location
[in]	pos_z	the z coordinate of the camera location
[in]	view_x	the x component of the view point of the camera
[in]	view_y	the y component of the view point of the camera
[in]	view_z	the z component of the view point of the camera
[in]	up_x	the x component of the view up direction of the camera
[in]	up_y	the y component of the view up direction of the camera
[in]	up_z	the y component of the view up direction of the camera
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

但是对于初学者来说，几个方向向量的说明不够清晰，遂对其进一步说明。 

该方法参考 vtk Camera中关于vtkCamera::SetPosition()设置方法。

 

 

（图片来自 https://blog.csdn.net/shenziheng1/article/details/53195489）

其中up为朝上方向，view为视角方向，其中方向是用方向向量表示的，及函数输入是用的方向向量。