点云转深度图显示函数:
void depthvisual()
{
// Object for storing the point cloud.
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Object for storing the normals.
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
// Read a PCD file from disk.
if (pcl::io::loadPCDFile<pcl::PointXYZ>("vincent.pcd", *cloud) != 0)
{
return ;
}
Eigen::Matrix4f T;
T << 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 500,
0, 0, 0, 1;
Eigen::Matrix4f T1;
T1 << 0, -1, 0, 0,
1, 0, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1;
Eigen::Affine3f Traw(T*T1);
// Parameters needed by the planar range image object:
// Image size. Both Kinect and Xtion work at 640x480.
int imageSizeX = 1500;
int imageSizeY = 1500;
// Center of projection. here, we choose the middle of the image.
float centerX = imageSizeX / 2.0f;
float centerY