PCL——可视化深度图像

示例代码

• 将深度值映射为颜色，以彩色图像方式可视化深度图像
• 在3D视窗中以点云形式可视化深度图像
  
  

#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#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;
// 全局参数
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = false;

// -----打印帮助-----
void printUsage(const char* progName)
{
	std::cout << "\n\nUsage: " << progName << " [options] <scene.pcd>\n\n"
		<< "Options:\n"
		<< "-------------------------------------------\n"
		<< "-r <float>   angular resolution in degrees (default " << angular_resolution << ")\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]);


	viewer.updateCamera();
}

int main(int argc, char** argv)
{
	//解析命令行参数
	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, "-r", angular_resolution) >= 0)
		std::cout << "Setting angular resolution to " << angular_resolution << "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 = pcl::deg2rad(angular_resolution);

	// 读取给定的pcd点云文件或者自行创建随机点云
	pcl::PointCloud<PointType>::Ptr point_cloud_ptr(new pcl::PointCloud<PointType>);
	pcl::io::loadPCDFile<PointType>("room_scan1.pcd", *point_cloud_ptr) == -1;
	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 => Genarating example point cloud.\n\n";
		for (float x = -0.5f; x <= 0.5f; x += 0.01f)
		{
			for (float y = -0.5f; y <= 0.5f; y += 0.01f)
			{
				PointType point;  point.x = x;  point.y = y;  point.z = 2.0f - y;
				point_cloud.points.push_back(point);
			}
		}
		point_cloud.width = (int)point_cloud.points.size();  point_cloud.height = 1;
	}

	//从点云创建深度图像对象
	float noise_level = 0.0;
	float min_range = 0.0f;
	int border_size = 1;

	boost::shared_ptr<pcl::RangeImage> range_image_ptr(new pcl::RangeImage);
	pcl::RangeImage& range_image = *range_image_ptr;
	range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), 
		pcl::deg2rad(180.0f), scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
	
	//创建3D视图并且添加点云进行显示
	pcl::visualization::PCLVisualizer viewer("3D Viewer");	//定义并初始化可视化对象
	viewer.setBackgroundColor(1, 1, 1);						//设置背景为白色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> 
		range_image_color_handler(range_image_ptr, 0, 0, 0);//设置自定义颜色
	viewer.addPointCloud(range_image_ptr, range_image_color_handler, "range image");
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
	viewer.initCameraParameters();
	setViewerPose(viewer, range_image.getTransformationToWorldSystem());

	//显示深度图像
	pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
	range_image_widget.showRangeImage(range_image);

	while (!viewer.wasStopped())
	{
		range_image_widget.spinOnce();
		viewer.spinOnce();
		Sleep(100);
		if (live_update)
		{
			scene_sensor_pose = viewer.getViewerPose();
			range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), pcl::deg2rad(180.0f), 
				scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size);
			range_image_widget.showRangeImage(range_image);
		}
	}
}

• 报错：camera不是PCLVisualizer的成员 的解决方案可以参照下面的博客：
  https://blog.csdn.net/sljslj111/article/details/120565893

资源下载

https://download.csdn.net/download/weixin_38566632/85226625