PCL教程笔记（三)-深度图像显示

还是官方教程的解读。
给出了一个显示深度图像的方法，其他的还是一样。

需要注意原作者 typedef了一个pointtype，其实是一个坑，不转定义一下，我都没看懂。我不认为，加了这一个def可读性就变好了，可能原作者有更好的解释。

此外，原教程有一些不得不指出的错误，一些不适用于本机操作的代码，我也进行了改动。

#include "pch.h"
#include <iostream>

#include <pcl/common/common_headers.h>
#include <pcl/range_image/range_image.h> 
#include <pcl/io/pcd_io.h> 
#include <pcl/visualization/range_image_visualizer.h> 
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h> 

typedef pcl::PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution_x = 0.50f,
angular_resolution_y = angular_resolution_x;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = FALSE;

// --------------
// -----Help-----
// --------------
void
printUsage(const char* progName)
{
	std::cout << "\n\nUsage: " << progName << " [options] <scene.pcd>\n\n"
		<< "Options:\n"
		<< "-------------------------------------------\n"
		<< "-rx <float>  angular resolution in degrees (default " << angular_resolution_x << ")\n"
		<< "-ry <float>  angular resolution in degrees (default " << angular_resolution_y << ")\n"
		<< "-c <int>     coordinate frame (default " << (int)coordinate_frame << ")\n"
		<< "-l           live update - update the range image according to the selected view in the 3D viewer.\n"
		<< "-h           this help\n"
		<< "\n\n";
}

void
setViewerPose(pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
	Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);
	Eigen::Vector3f look_at_vector = viewer_pose.rotation() * Eigen::Vector3f(0, 0, 1) + pos_vector;
	Eigen::Vector3f up_vector = viewer_pose.rotation() * Eigen::Vector3f(0, -1, 0);
	viewer.setCameraPosition(pos_vector[0], pos_vector[1], pos_vector[2],
		look_at_vector[0], look_at_vector[1], look_at_vector[2],
		up_vector[0], up_vector[1], up_vector[2]);
}

// --------------
// -----Main-----
// --------------
int
main(int argc, char** argv)
{
	// --------------------------------------
	// -----Parse Command Line Arguments-----
	// --------------------------------------
	if (pcl::console::find_argument(argc, argv, "-h") >= 0)
	{
		printUsage(argv[0]);
		return 0;
	}
	if (pcl::console::find_argument(argc, argv, "-l") >= 0)
	{
		live_update = true;
		std::cout << "Live update is on.\n";
	}
	if (pcl::console::parse(argc, argv, "-rx", angular_resolution_x) >= 0)
		std::cout << "Setting angular resolution in x-direction to " << angular_resolution_x << "deg.\n";
	if (pcl::console::parse(argc, argv, "-ry", angular_resolution_y) >= 0)
		std::cout << "Setting angular resolution in y-direction to " << angular_resolution_y << "deg.\n";
	int tmp_coordinate_frame;
	if (pcl::console::parse(argc, argv, "-c", tmp_coordinate_frame) >= 0)
	{
		coordinate_frame = pcl::RangeImage::CoordinateFrame(tmp_coordinate_frame);
		std::cout << "Using coordinate frame " << (int)coordinate_frame << ".\n";
	}
	angular_resolution_x = pcl::deg2rad(angular_resolution_x);
	angular_resolution_y = pcl::deg2rad(angular_resolution_y);
	
	// ------------------------------------------------------------------
	// -----Read pcd file or create example point cloud if not given-----
	// ------------------------------------------------------------------
	pcl::PointCloud<PointType>::Ptr point_cloud_ptr(new pcl::PointCloud<PointType>);
	pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
	Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity());
	std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument(argc, argv, "pcd");
	if (!pcd_filename_indices.empty())
	{
		std::string filename = argv[pcd_filename_indices[0]];
		if (pcl::io::loadPCDFile(filename, point_cloud) == -1)
		{
			std::cout << "Was not able to open file \"" << filename << "\".\n";
			printUsage(argv[0]);
			return 0;
		}
		scene_sensor_pose = Eigen::Affine3f(Eigen::Translation3f(point_cloud.sensor_origin_[0],
			point_cloud.sensor_origin_[1],
			point_cloud.sensor_origin_[2])) *
			Eigen::Affine3f(point_cloud.sensor_orientation_);
	}
	else
	{
		std::cout << "\nNo *.pcd file given => Generating example point cloud.\n\n";
		pcl::io::loadPCDFile("C:\\Users\\刘德华\\Desktop\\新建文件夹 (2)\\table_scene_mug_stereo_textured.pcd", point_cloud);
		

	}
	
	//pcl::visualization::PointCloudColorHandlerGenericField<PointType> fildColor(point_cloud_ptr, "z"); // 按照z字段进行渲染
	//从点云创建出深度图
	float noise_level = 0.0;
	float min_range = 0.0;
	int border_size = 1;
	pcl::RangeImage::Ptr range_image_ptr(new pcl::RangeImage);
	pcl::RangeImage& range_image = *range_image_ptr;
	range_image.createFromPointCloud(point_cloud, angular_resolution_x, angular_resolution_y,
		pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
		scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);

//打开一个3D图形窗口，并添加点云数据
	pcl::visualization::PCLVisualizer viewer("3D Viewer");
	viewer.setBackgroundColor(1, 1, 1);
	pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointWithRange> range_image_color_handler(range_image_ptr, "z");
	viewer.addPointCloud(range_image_ptr, range_image_color_handler, "range image");
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "range image");
	//viewer.addCoordinateSystem (1.0f, "global");
	//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
	//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
	viewer.initCameraParameters();
	setViewerPose(viewer, range_image.getTransformationToWorldSystem());

	//以图像的形式显示深度图像，深度值作为颜色显示
	pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
	range_image_widget.showRangeImage(range_image);


	//主循环
	while (!viewer.wasStopped())
	{
		range_image_widget.spinOnce();
		viewer.spinOnce();
		pcl_sleep(0.01);

		if (TRUE)
		{
			scene_sensor_pose = viewer.getViewerPose();
			scene_sensor_pose.rotate(Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ()));
			range_image.createFromPointCloud(point_cloud, angular_resolution_x, angular_resolution_y,
				pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
				scene_sensor_pose, pcl::RangeImage::CAMERA_FRAME, noise_level, min_range, border_size);
			range_image_widget.showRangeImage(range_image);
		}
	}
}

主要围绕着createFromPointCloud这个函数
point_cloud是载入的点云，
angular_resolution_x, angular_resolution_y是分辨率，越低越清晰。
再往下两个参数pcl::deg2rad(360.0f), pcl::deg2rad(180.0f)分别指扫描范围的宽度和高度，就是扫描最大的俯仰角度。如上给出了360度的平扫角度，和180的仰扫角度。
scene_sensor_pose 是传感器位置。
pcl::RangeImage::CAMERA_FRAME指的是坐标系，源代码给了LASER_FRAME,通常情况下会出现深度图像显示的错误。

再往下三个参数noise_level, min_range, border_size，对深度图像显示意义不大，可以不用管，只要不设置的太离谱。

可能的报错：
pcl_sleep() 转定义一下，把define的sleep改为Sleep。

不要使用windows.h与PCL的sleep代码冲突。

主循环中加了一行，用于纠正相机位置。
scene_sensor_pose.rotate(Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ()));

顺便把PCD文件提供一下：
https://download.csdn.net/download/qq_33782623/12503345