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