1. 相关说明
2. CMakeLists.txt
# 指定最低的CMAKE版本
CMAKE_MINIMUM_REQUIRED(VERSION 3.22 FATAL_ERROR)
# 创建项目
PROJECT(PCLSamples LANGUAGES CXX)
# 指定CPLUSPLUS标准
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
SET(CMAKE_CXX_STANDARD 14)
SET(CMAKE_C_STANDARD 14)
SET(CMAKE_C_STANDARD_REQUIRED ON)
# 查找第三方依赖库
FIND_PACKAGE(PCL 1.11 REQUIRED)
# 添加可执行文件
ADD_EXECUTABLE(PCLSample src/main.cpp)
# 添加头文件目录
TARGET_INCLUDE_DIRECTORIES(PCLSample PRIVATE ${PCL_INCLUDE_DIRS})
# 添加库目录
TARGET_LINK_DIRECTORIES(PCLSample PRIVATE ${PCL_LIBRARY_DIRS})
# 添加编译器定义
TARGET_COMPILE_DEFINITIONS(PCLSample PRIVATE ${PCL_DEFINITIONS})
# 取消已有的编译器定义
#SET_TARGET_PROPERTIES(PCLSample PROPERTIES COMPILE_FLAGS "/UBOOST_ALL_NO_LIB-DBOOST_ALL_NO_LIB")
# 添加依赖库文件
target_link_libraries(PCLSample PRIVATE ${PCL_LIBRARIES})
3. main.cpp
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/console/parse.h>
typedef pcl::PointXYZ PointType;
float angular_resolution_x = 0.5f;
float angular_resolution_y = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = false;
void printHelper(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]);
}
int main(int argc, char **argv)
{
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printHelper(argv[0]);
return 0;
}
if (pcl::console::find_argument(argc, argv, "-l") >= 0)
{
live_update = true;
std::cout << "Live update is on." << std::endl;
}
if (pcl::console::parse(argc, argv, "-rx", angular_resolution_x) >= 0)
std::cout << "Setting angular resolution in x-direction to " << angular_resolution_x << "deg." << std::endl;
if (pcl::console::parse(argc, argv, "-ry", angular_resolution_y) >= 0)
std::cout << "Setting angular resolution in y-direction to " << angular_resolution_y << "deg." << std::endl;
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 << "." << std::endl;
}
angular_resolution_x = pcl::deg2rad(angular_resolution_x);
angular_resolution_y = pcl::deg2rad(angular_resolution_y);
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";
printHelper(argv[0]);
return 0;
}
Eigen::Translation3f translation(point_cloud.sensor_origin_[0], point_cloud.sensor_origin_[1], point_cloud.sensor_origin_[2]);
scene_sensor_pose = translation * Eigen::Affine3f(point_cloud.sensor_orientation_);
}
else
{
std::cout << "\nNo *.pcd file given => Generating 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.push_back(point);
}
}
point_cloud.width = point_cloud.size();
point_cloud.height = 1;
}
float noise_level = 0.0;
float min_range = 0.0f;
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);
pcl::visualization::PCLVisualizer viewer("3D Viewer");
viewer.setBackgroundColor(1, 1, 1);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler(range_image_ptr, 0, 0, 0);
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());
pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
range_image_widget.showRangeImage(range_image);
while (!viewer.wasStopped())
{
range_image_widget.spinOnce();
viewer.spinOnce();
pcl_sleep(0.01);
if (live_update)
{
scene_sensor_pose = viewer.getViewerPose();
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);
}
}
}
4. 效果图
4.1 点云图
![在这里插入图片描述](https://img-blog.csdnimg.cn/95dfb30c6216425fbb004b086e0ec181.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBAemh5Mjk1NjM=,size_20,color_FFFFFF,t_70,g_se,x_16#pic_center)
4.2 深度图
![在这里插入图片描述](https://img-blog.csdnimg.cn/e529559b8b0142df8fcbb5ba9578f023.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBAemh5Mjk1NjM=,size_13,color_FFFFFF,t_70,g_se,x_16#pic_center)