PCL点云转为深度图

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl\point_cloud.h>
#include <pcl\range_image\range_image.h>
#include <vector>
#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)
{
	pcl::PointCloud<pcl::PointXYZ> pointcloud;
	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 = 2.0 - y;
			point.y = y;
			point.z = z;
			pointcloud.points.push_back(point);
		}
	}
	pointcloud.width = (uint32_t)pointcloud.points.size();
	pointcloud.height = 1;


	float angularResolution = (float)(1.0f * (M_PI / 180.0f));//角分辨率是1度，也就是说由相邻像素表示的光束相差一弧度
	float maxAngleWidth = (float)(360.0f * (M_PI / 180.0f));
	float maxAngleHeight = (float)(180.0f * (M_PI / 180.0f));//模拟的范围传感器有一个完整的360度全景图
	Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);//传感器的位置定义了虚拟传感器的6 DOF位置，它的原点是滚动=俯仰=偏航=0。
	pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;//x朝向右，y向下，z轴是向前的,另一种选择是激光框架，x面向前方，y向左，z向上。
	float noiseLevel = 0.00;//对于噪声，噪声是0，范围图像是使用普通的z缓冲区创建的
	float minRange = 0.0f;// minRange >0 ,所有更近的点都将被忽略
	int borderSize = 1;//边界大小>0,边界将会在裁剪时留下一个未被观察到的点的边界。

	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);

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

	return (0);
}