可视化深度图像

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在3D视窗中以点云形式进行可视化（深度图像来自于点云），另一种是将深度值映射为颜色，从而以彩色图像方式可视化深度图像，
新建工程ch4_2，新建文件range_image_visualization.cpp，填充内容如下
#include <iostream>#include <boost/thread/thread.hpp>#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;// --------------------// -----Parameters-----// --------------------float angular_resolution_x = 0.5f,      angular_resolution_y = angular_resolution_x;pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;bool live_update = false;// --------------// -----Help-----// --------------void printUsage (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)   //设置视角位置{  Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);   //eigen  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]);}// --------------// -----Main-----// --------------int main (int argc, char** argv){  // --------------------------------------  // -----Parse Command Line Arguments-----  // --------------------------------------  if (pcl::console::find_argument (argc, argv, "-h") >= 0)  {    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, "-rx", angular_resolution_x) >= 0)    std::cout << "Setting angular resolution in x-direction to "<<angular_resolution_x<<"deg.\n";  if (pcl::console::parse (argc, argv, "-ry", angular_resolution_y) >= 0)    std::cout << "Setting angular resolution in y-direction to "<<angular_resolution_y<<"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_x = pcl::deg2rad (angular_resolution_x);  angular_resolution_y = pcl::deg2rad (angular_resolution_y);    // ------------------------------------------------------------------  // -----Read pcd file or create example point cloud if not given-----  // ------------------------------------------------------------------  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;  }    // -----------------------------------------------  // -----Create RangeImage from the PointCloud-----  // -----------------------------------------------  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_x, angular_resolution_y,                                    pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),                                    scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);    // --------------------------------------------  // -----Open 3D viewer and add point cloud-----  // --------------------------------------------  /*****************************************************************************************   创建3D视窗对象，将背景颜色设置为白色，添加黑色的，点云大小为1的深度图像（点云），并使用Main函数    上面定义的setViewerPose函数设置深度图像的视点参数，被注释的部分用于添加爱坐标系，并对原始点云进行可视化   *****************************************************************************************/  pcl::visualization::PCLVisualizer viewer ("3D Viewer");     //定义初始化可视化对象  viewer.setBackgroundColor (1, 1, 1);                         //背景设置为白色  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0); //设置自定义颜色  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, "global");  //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 ());    // --------------------------  // -----Show range image-----  // --------------------------   //用以图像的方式可视化深度图像，图像的颜色取决于深度值  pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");  range_image_widget.showRangeImage (range_image);      //图像可视化方式显示深度图像    //--------------------  // -----Main loop-----  //--------------------  while (!viewer.wasStopped ())   //启动主循环以保证可视化代码的有效性，直到可视化窗口关闭  {    range_image_widget.spinOnce ();   //用于处理深度图像可视化类的当前事件    viewer.spinOnce ();              //用于处理3D窗口当前的事件此外还可以随时更新2D深度图像，以响应可视化窗口中的当前视角，这通过命令行-1来激活    pcl_sleep (0.01);      //首先从窗口中得到当前的观察位置，然后创建对应视角的深度图像，并在图像显示插件中显示    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::LASER_FRAME, noise_level, min_range, border_size);      range_image_widget.showRangeImage (range_image);    }  }}
编译结束运行可执行文件的结果为：
运行 ./range_image_visualization（没有指定.pcd文件）
使用自动生成的矩形空间点云，这里有两个窗口，一个是点云的3D可视化窗口，一个是深度图像的可视化窗口，在该窗口图像的颜色由深度决定。
当然如果指定PCD文件也可以比如：./range_image_visualization room_scan1.pcd 其结果
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