pcl点云转深度图像

#include <iostream>
#include <pcl/range_image/range_image.h>//深度图有关文件
#include <pcl/visualization/pcl_visualizer.h>//点云可视化头文件
#include <pcl/io/pcd_io.h>//pcd文件输入/输出
#include <pcl/io/ply_io.h>//pcd文件输入/输出
#include <pcl/visualization/range_image_visualizer.h>//rangeImage可视化头文件
#include <pcl/common/common_headers.h>
#include <pcl/console/parse.h>//命令行参数解析
#include <boost/thread/thread.hpp>//多线程文件
#include <pcl/visualization/common/float_image_utils.h>//保存深度图像
#include <pcl/io/png_io.h>//保存深度图像

int main(int argc, char** argv) {

	//读入点云数据
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPLYFile("b2.ply", *cloud_in);

	//pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>);
	//生成数据
	//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;
	//		cloud_in->points.push_back(point);
	//	}
	//}
	//cloud_in->width = (uint32_t)cloud_in->points.size();
	//cloud_in->height = 1;



	//以1度为角分辨率，从上面创建的点云创建深度图像。
	float angularResolution = (float)(0.1f * (M_PI / 180.0f));
	// 1度转弧度
	float maxAngleWidth = (float)(120.0f * (M_PI / 180.0f));
	// 360.0度转弧度
	float maxAngleHeight = (float)(60.0f * (M_PI / 180.0f));
	// 180.0度转弧度
	Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
	pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::LASER_FRAME;
	float noiseLevel = 0.00;
	float minRange = 0.0f;
	int borderSize = 1;
	pcl::RangeImage rangeImage;
	rangeImage.createFromPointCloud(*cloud_in, angularResolution, maxAngleWidth, maxAngleHeight, sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
	std::cout << rangeImage << "\n";//重载运算符<<

	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("CloudPointView"));
	viewer->initCameraParameters();

	int v1(0);
	//viewer->createViewPort(0,0,0.5,1,v1);
	viewer->setBackgroundColor(255, 255, 255, v1);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color1(cloud_in->makeShared(), 255, 0, 0);
	viewer->addPointCloud(cloud_in->makeShared(), color1, "pointCloud", v1);

	viewer->addCoordinateSystem();
	//viewer->spin();//这句话不注释掉会导致只显示点云图而不显示深度图的窗口



	//save depth picture
	float* ranges = rangeImage.getRangesArray();
	unsigned char* rgb_image = pcl::visualization::FloatImageUtils::getVisualImage(ranges, rangeImage.width, rangeImage.height);
	pcl::io::saveRgbPNGFile("saveRangeImageRGB.png", rgb_image, 1280, 720);
	std::cerr << "Picture Saved!" << std::endl;

	//可视化深度图像rangeImage
	pcl::visualization::RangeImageVisualizer range_image_widget("Range image");//创建Range image显示的对象
	range_image_widget.setWindowTitle("RangeImage");
	range_image_widget.showRangeImage(rangeImage);
	while (!range_image_widget.wasStopped() && !viewer->wasStopped())
	{
		range_image_widget.spinOnce();
		viewer->spinOnce();

		//pcl_sleep(0.01);


	}

	return  0;
}