本文主要是介绍如何从点云创建距离图像(How to create a range image from a point cloud),希望对大家解决编程问题提供一定的参考价值,需要的开发者们随着小编来一起学习吧!
本教程演示如何从点云和给定传感器位置创建距离图像。该代码创建了漂浮在观察者前方的矩形示例点云。
#代码
首先,在你最喜欢的编辑器中创建一个叫做range_image_creation.cpp
的文件,并在其中放置下面的代码:
#include <pcl/range_image/range_image.h>int main (int argc, char** argv) {pcl::PointCloud<pcl::PointXYZ> pointCloud;// Generate the datafor (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.points.push_back(point);}}pointCloud.width = (uint32_t) pointCloud.points.size();pointCloud.height = 1;// We now want to create a range image from the above point cloud, with a 1deg angular resolutionfloat angularResolution = (float) ( 1.0f * (M_PI/180.0f)); // 1.0 degree in radiansfloat maxAngleWidth = (float) (360.0f * (M_PI/180.0f)); // 360.0 degree in radians
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