本教程演示如何从点云和给定传感器位置创建距离图像。该代码创建了漂浮在观察者前方的矩形示例点云。
#代码
首先,在你最喜欢的编辑器中创建一个叫做range_image_creation.cpp
的文件,并在其中放置下面的代码:
#include <pcl/range_image/range_image.h>
int main (int argc, char** argv) {
pcl::PointCloud<pcl::PointXYZ> pointCloud;
// Generate the data
for (float y=-0.5f; y<=0.5f; y+=0.01f) {
for (float z=-0.5f; z<=0.5f; z+=0.01f) {
pcl::PointXYZ point;
point.x = 2.0f - y;
point.y = y;
point.z = z;
pointCloud.points.push_back(point);
}
}
pointCloud.width = (uint32_t) pointCloud.points.size();
pointCloud.height = 1;
// We now want to create a range image from the above point cloud, with a 1deg angular resolution
float angularResolution = (float) ( 1.0f * (M_PI/180.0f)); // 1.0 degree in radians
float maxAngleWidth = (float) (360.0f * (M_PI/180.0f)); // 360.0 degree in radians