pcd点云和rangeimage的关系

最新推荐文章于 2023-12-12 16:53:49 发布

Flying Stone

最新推荐文章于 2023-12-12 16:53:49 发布

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本文链接：https://blog.csdn.net/weixin_42840360/article/details/119830339

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这段代码示例展示了如何使用PCL库从点云数据生成RangeImage，并以1度的角分辨率进行处理。点云数据在三维空间中生成，然后转换为RangeImage。接着，代码将RangeImage的可视图像保存为PNG格式，并将原始点云数据保存为PCD文件。此外，还展示了如何获取并保存RangeImage的RGB表示。

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#include <pcl/range_image/range_image.h>
#include <pcl/io/png_io.h>//保存深度图像
#include <pcl/visualization/common/float_image_utils.h>//保存深度图像
#include <pcl/io/pcd_io.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 = pointCloud.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
  float maxAngleHeight    = (float) (180.0f * (M_PI/180.0f));  // 180.0 degree in radians
  Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
  pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
  float noiseLevel=0.00;
  float minRange = 0.0f;
  int borderSize = 1;
  
  pcl::RangeImage rangeImage;
  rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
                                  sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);

  float* ranges = rangeImage.getRangesArray();
  unsigned char* rgb_image = pcl::visualization::FloatImageUtils::getVisualImage(ranges, rangeImage.width, rangeImage.height);
  pcl::io::saveRgbPNGFile("saveRangeImageRGB.png", rgb_image, rangeImage.width, rangeImage.height);

  pcl::io::savePCDFileASCII ("test_pcd.pcd", pointCloud);

  std::cout << rangeImage << "\n";
}