PCL学习笔记（1）---可视化（3）-range_image_visualization

range_image_visualization.cpp

#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/common/common_headers.h>
#include <pcl/range_image/range_image.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>

typedef pcl::PointXYZ PointType;
// 全局参数
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = false;
// -----打印帮助-----
void
printUsage (const char* progName)
{
std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-r <float>   angular resolution in degrees (default "<<angular_resolution<<")\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.camera_.pos[0] = pos_vector[0];
viewer.camera_.pos[1] = pos_vector[1];
viewer.camera_.pos[2] = pos_vector[2];
viewer.camera_.focal[0] = look_at_vector[0];
viewer.camera_.focal[1] = look_at_vector[1];
viewer.camera_.focal[2] = look_at_vector[2];
viewer.camera_.view[0] = up_vector[0];
viewer.camera_.view[1] = up_vector[1];
viewer.camera_.view[2] = up_vector[2];
viewer.updateCamera();
}*/

// -----Main-----
int
main (int argc, char** argv)
{
//解析命令行参数
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
4000

{
printUsage (argv[0]);
return 0;
}
if (pcl::console::find_argument (argc, argv, "-l") >= 0)
{
live_update = true;
std::cout << "Live update is on.\n";
}
if (pcl::console::parse (argc, argv, "-r", angular_resolution) >= 0)
std::cout << "Setting angular resolution to "<<angular_resolution<<"deg.\n";
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<<".\n";
}
angular_resolution = pcl::deg2rad (angular_resolution);

// 读取给定的pcd点云文件或者自行创建随机点云
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";
printUsage (argv[0]);
return 0;
}
scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
point_cloud.sensor_origin_[1],
point_cloud.sensor_origin_[2])) *
Eigen::Affine3f (point_cloud.sensor_orientation_);
}
else
{
std::cout << "\nNo *.pcd file given => Genarating 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.points.push_back (point);
}
}
point_cloud.width = (int) point_cloud.points.size ();  point_cloud.height = 1;
}
//从点云创建深度图像对象
float noise_level = 0.0;
float min_range = 0.0f;
int border_size = 1;
boost::shared_ptr<pcl::RangeImage> range_image_ptr(new pcl::RangeImage);
pcl::RangeImage& range_image = *range_image_ptr;
range_image.createFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f), scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
//创建3D视图并且添加点云进行显示
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.addCoordinateSystem (1.0f);
//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters ();
//setViewerPose(viewer, range_image.getTransformationToWorldSystem ());
//显示深度图像
pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
range_image_widget.showRangeImage (range_image);
//主循环
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, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f), scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size);
range_image_widget.showRangeImage (range_image);
}
}
}

2.把需要显示的文件放在exe所在的文件夹，在控制台输入D:\MyProgram\PCL\PCL_book\7 chapter example code\2 range_image_visualization\sou

rce\cmake_bin2\Debug>range_image_visualization room_scan1.pcd

3.