PointCloudLib-深度图模块（RangeImage）-如何从点云创建深度图像

从点云创建范围图像

如何从点云创建范围图像

本教程演示如何从点云和给定传感器位置创建范围图像。该代码创建一个浮动在观察者前面的矩形的示例点云。

代码

#include <pcl/range_image/range_image.h>

int main () {
  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.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 ra