PCL学习：深度图像-从点云创建深度图像

此程序是生成一个矩形的点云，然后基于该点云创建深度图像 ，并显示点云和深度图；

#include <pcl/range_image/range_image.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>

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]);
}

int 
main (int argc, char** argv) {
	pcl::PointCloud<pcl::PointXYZ> pointCloud;
	//生成数据
	for (float y=-